LINEARIZED DYNAMIC-MODELS FOR TRAJECTORY CONTROL OF ROBOT MANIPULATORS

被引：0

作者：

SWARUP, A ^{[1
]}

GOPAL, M ^{[1
]}

机构：

[1] INDIAN INST TECHNOL, DEPT ELECT ENGN, NEW DELHI 110016, INDIA

来源：

JOURNAL OF ROBOTIC SYSTEMS | 1992年 / 9卷 / 04期

关键词：

D O I：

10.1002/rob.4620090402

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

To make an appropriate choice of linear model for the development of real-time control of robot manipulators, four direct linearization schemes have been studied here on the basis of computation and accuracy. Accuracy is assured in the state linearization method, whereas the rate linearization method leads to a satisfactory trade-off between computational effort and accuracy. In the case of high-velocity motions, a combination of state and rate linearization is proposed.

引用

页码：455 / 459

页数：5

共 50 条

[1] LINEARIZED DYNAMIC-MODELS OF ROBOT MANIPULATORS IN CARTESIAN SPACE
LI, CJ
[J]. JOURNAL OF ROBOTIC SYSTEMS, 1991, 8 (01): : 93 - 115
[2] A NEW COMPUTATIONAL METHOD FOR LINEARIZED DYNAMIC-MODELS FOR ROBOT MANIPULATORS
LI, CJ
HEMAMI, A
SANKAR, TS
[J]. INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 1990, 9 (01): : 134 - 144
[3] LINEARIZED INVERSE DYNAMIC-MODELS FOR ROBOT MANIPULATORS WITH VARYING LINK PARAMETERS
LI, CJ
SANKAR, TS
[J]. JOURNAL OF MECHANICAL DESIGN, 1994, 116 (01) : 338 - 343
[4] AN EFFICIENT METHOD FOR LINEARIZATION OF DYNAMIC-MODELS OF ROBOT MANIPULATORS
LI, CJ
[J]. IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1989, 5 (04): : 397 - 408
[5] THE ROLE OF DYNAMIC-MODELS IN CARTESIAN FORCE CONTROL OF MANIPULATORS
AN, CH
HOLLERBACH, JM
[J]. INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 1989, 8 (04): : 51 - 72
[6] EVALUATION OF DYNAMIC-MODELS FOR PUMA ROBOT CONTROL
LEAHY, MB
VALAVANIS, KP
SARIDIS, GN
[J]. IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, 1989, 5 (02): : 242 - 245
[7] CONTOUR CONTROL AND MOTION MODELING FOR ROBOTIC MANIPULATORS BASED ON DYNAMIC-MODELS
PODURAYEV, YV
[J]. JOURNAL OF COMPUTER AND SYSTEMS SCIENCES INTERNATIONAL, 1995, 33 (01) : 150 - 158
[8] MINIMAL PARAMETRIZATION OF ROBOT DYNAMIC-MODELS
RAUCENT, B
SAMIN, JC
[J]. MECHANICS OF STRUCTURES AND MACHINES, 1994, 22 (03): : 371 - 396
[9] Dynamic control of robot manipulators
Univ Cadi Ayyad, Marrakech, Morocco
[J]. Adv Model Anal C, 1 (1.19-1.31):
[10] BASE PARAMETERS OF DYNAMIC-MODELS FOR MANIPULATORS WITH ROTATIONAL AND TRANSLATIONAL JOINTS
MAYEDA, H
YOSHIDA, K
OHASHI, K
[J]. PROCEEDINGS - 1989 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOL 1-3, 1989, : 1523 - 1534

← 1 2 3 4 5 →