ANALYSIS OF ROBOT DYNAMICS AND COMPENSATION USING CLASSICAL AND COMPUTED TORQUE TECHNIQUES

• Tipo: Artigo em Revista Científica Internacional
• Data: 1993

Autores

José Tenreiro Machado (Autor) FEUP; Jorge Martins de Carvalho (Autor) FEUP; Alexandra Galhano (Autor) FEUP

Revista

Título: IEEE Transactions on Education

Vol. 36

Páginas: 372-379

ISSN: 0018-9359

Editora: IEEE

Indexação

ISI Web of Knowledge - 9 Citações

Scopus - 9 Citações

Outras Informações

ID Authenticus: P-001-MGD

DOI: 10.1109/13.241614

Abstract (EN): A classical analysis of the dynamics of robot manipulators is presented. It is shown that these systems have configuration-dependent properties and can be open-loop unstable. Due to this fact, present day linear controllers are inefficient. On the other hand, nonlinear hardware and software compensation methods also are shown to have some limitations. Controllers based on the direct design algorithm and the computed torque method have superior performances. These algorithms have nonlinear loops yet, our paper shows that a linear analysis is still feasible. Therefore, classical design tools can be adopted in order to develop practical implementations.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 8