Control strategiesTechniques for improving the performance of robotic-manipulator path-control systems comprising independent SISO feedback controllers for each joint are discussed and illustrated with block diagrams, reviewing the results of recent analytical investigations. Topics examined include the servo design for a single link, the equations of motion for manipulators, SISO servo design for multiple links, inverse methods, pole placement with compensation of the gravity terms, linear state-feedback control based on the perturbation equations, and adaptive control methods. Consideration is given to variable-structure systems, suboptimal controllers, and the optimal-design-strategy approach.
Document ID
19880062157
Acquisition Source
Legacy CDMS
Document Type
Conference Proceedings
Authors
Wang, J. C. (Idaho State University Pocatello, United States)
Mcinnis, B. C. (Idaho State Univ. Pocatello, ID, United States)
Shieh, L. S. (Houston, University TX, United States)