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

• Type: Article in International Scientific Journal
• Date: 1993

Authors

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

Journal

Title: IEEE Transactions on Education

Vol. 36

Pages: 372-379

ISSN: 0018-9359

Publisher: IEEE

Indexing

ISI Web of Knowledge - 9 Citations

Scopus - 9 Citations

Other information

Authenticus ID: 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.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 8