Synthesizing control systems for multi-degree of freedom manipulators

被引：0

作者：

Dalay, BS ^{[1
]}

Medvedev, VS ^{[1
]}

Romanova, TA ^{[1
]}

机构：

[1] MOSCOW STATE TECH UNIV NE BAUMAN,MOSCOW,RUSSIA

来源：

PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING | 1996年 / 210卷 / 01期

关键词：

control system; multi-degree of freedom manipulator; servo system;

D O I：

10.1243/PIME_PROC_1996_210_435_02

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Methods of analysing single input and single output control systems are well established (1). The same is not true of techniques for solving problems involving multi-inputs and multi-outputs. Such problems arise when controlling manipulators having many degrees of freedom. In this paper techniques of control system synthesis for manipulator mechanisms are considered. The method is based on locating the roots of the characteristic equation to give the desired dynamic properties for every link's servo system in the mechanism. Each link is treated independently. Simple examples to illustrate the method are presented.

引用

页码：45 / 50

页数：6

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