Towards Remote Control of Planar Redundant Robotic Manipulators

被引：0

作者：

Giannaris, Georgios L. ^{[1
,2
]}

Kouvakas, Nikolaos D. ^{[2
]}

Koumboulis, Fotis N. ^{[2
]}

Vouyioukas, Demosthenes ^{[1
]}

机构：

[1] Univ Aegean, Dept Informat & Commun Syst Engn, Karlovassi 83200, Samos, Greece

[2] Technol Educ Inst Sterea Ellada, Dept Automat Engn, Psahna Evias 34400, Greece

来源：

2017 IEEE 21ST INTERNATIONAL CONFERENCE ON INTELLIGENT ENGINEERING SYSTEMS (INES) | 2017年

关键词：

NETWORKED CONTROL; MOTION CONTROL; PERFORMANCE; STABILITY;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

The problem of remote position control of a planar redundant manipulator is studied for the case of a 3dof Cartesian robot including disturbance forces at the end effector. The robotic manipulator controlled through a wireless network using the ZigBee protocol, imposing communication delays between the sensors and the controller, as well as between the controller and actuators. The kinetic model of the system is presented and a static feedback with dynamic precompensator controller involving time delays is proposed. Based on these two aspects the following four design goals are imposed: a) non-square I/O decoupling, b) D/O diagonalization, c) attenuation of the influence of the disturbances to the performance output, and d) balanced allotment of the steady state behavior of the redundant degrees of freedom. The design goals are proven to be satisfied and the solution of the controller matrices are derived.

引用

页码：231 / 236

页数：6

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