Decentralized control of nonlinear robot manipulators

IF 2.9 Q2 ROBOTICS

Robotics Pub Date : 1987-09-01 DOI:10.1016/0167-8493(87)90053-2

M. Jamshidi, H. Seraji , Y.T. Kim

引用次数: 11

Abstract

Robot manipulators have highly nonlinear dynamics. Therefore the control of multi-link robot arms is a challenging and difficult problem. In this paper a nonlinear dynamic model is first presented for an $x- axis$ robot arm. Then a linearized model is obtained for it. The linearized model is then considered as an $n- controller$ large-scale system. The notion of decentralized stabilization has been introduced and applied to the robot arm. Controllers considered are pd, pid and pd plus a feedforward (inverse dynamics). Numerical simulation for decentralized control of a 3-axis puma arm will also be included.

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非线性机械臂的分散控制

机器人机械臂具有高度非线性动力学。因此，多连杆机械臂的控制是一个具有挑战性和难点的问题。本文首先建立了x轴机械臂的非线性动力学模型。然后对其进行线性化处理。然后将线性化模型视为一个n控制器大系统。将分散稳定的概念引入并应用于机械臂。控制器考虑pd, pid和pd加前馈(逆动力学)。数值模拟分散控制的三轴美洲豹手臂也将包括在内。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Robotics Mathematics-Control and Optimization

CiteScore

6.70

自引率

8.10%

发文量

114

审稿时长

11 weeks

期刊介绍： Robotics publishes original papers, technical reports, case studies, review papers and tutorials in all the aspects of robotics. Special Issues devoted to important topics in advanced robotics will be published from time to time. It particularly welcomes those emerging methodologies and techniques which bridge theoretical studies and applications and have significant potential for real-world applications. It provides a forum for information exchange between professionals, academicians and engineers who are working in the area of robotics, helping them to disseminate research findings and to learn from each other’s work. Suitable topics include, but are not limited to: -intelligent robotics, mechatronics, and biomimetics -novel and biologically-inspired robotics -modelling, identification and control of robotic systems -biomedical, rehabilitation and surgical robotics -exoskeletons, prosthetics and artificial organs -AI, neural networks and fuzzy logic in robotics -multimodality human-machine interaction -wireless sensor networks for robot navigation -multi-sensor data fusion and SLAM