Analysis of Robot Dynamics and Compensation Using Classical and Computed Torque Techniques

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 compensa...

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Bibliographic Details
Main Author: Machado, J. A. Tenreiro (author)
Other Authors: Carvalho, J. L. Martins de (author), Galhano, Alexandra M. S. F. (author)
Format: article
Language:eng
Published: 1993
Subjects:
Robots
Torque
Manipulator dynamics
Acceleration
Open loop systems
Algorithm design and analysis
Lagrangian functions
Online Access:http://hdl.handle.net/10400.22/8845
Country:Portugal
Oai:oai:recipp.ipp.pt:10400.22/8845

Internet

http://hdl.handle.net/10400.22/8845

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