On rate control of n-link manipulator robot

被引：2
|
作者：
Rodkina, A [1 ]
机构：
[1] Voronezh State Acad Construct & Architecture, Voronezh 394088, Russia
来源：
MATHEMATICS AND COMPUTERS IN SIMULATION | 1998年 / 45卷 / 3-4期
关键词：
D O I：
10.1016/S0378-4754(97)00115-8
中图分类号：
TP39 [计算机的应用];
学科分类号：
081203 ; 0835 ;
摘要：
We consider the control circuit for n-link robot-manipulator constructed on proportional-differential regulator. We find out the values of control parameters and the restrictions on the noises that ensure the transition of the loaded claw into the theta-neighbourhood of the equilibrium state in time T with given reliability delta>0. Here theta, T are given sufficiently small numbers defined by technical peculiarity of robot itself and machinery served by it. The simulations of the motion of robot hand for two-link robot-manipulators are presented. (C) 1998 IMACS/Elsevier Science B.V.
引用
收藏
页码：359 / 364
页数：6
相关论文
共 50 条
  • [11] Controllability and observability of an n-link robot with multiple active links
    Hao, Yuqing
    Duan, Zhisheng
    Wen, Guanghui
    INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, 2017, 27 (18) : 4633 - 4647
  • [12] Controllability and observability of an n-link robot with multiple active links
    Hao, Yuqing
    Duan, Zhisheng
    Wen, Guanghui
    International Journal of Robust and Nonlinear Control, 2017, 27 (18): : 4633 - 4647
  • [13] Controllability and Observability of an n-Link Planar Robot with Active Joints
    Hao, Yuqing
    Duan, Zhisheng
    Ren, Wei
    PROCEEDINGS OF THE 35TH CHINESE CONTROL CONFERENCE 2016, 2016, : 831 - 836
  • [14] Optimal Path Planning for Flexible Plate Handling Using an n-Link Manipulator
    Matsuno, Fumitoshi
    Journal of Robotics and Mechatronics, 1998, 10 (03): : 178 - 183
  • [15] Minimum parameter learning method for an n-link manipulator with nonlinear disturbance observer
    Liu, Jinkun (ljk@buaa.edu.cn), 1600, Acta Press, Building B6, Suite 101, 2509 Dieppe Avenue S.W., Calgary, AB, T3E 7J9, Canada (31):
  • [16] MINIMUM PARAMETER LEARNING METHOD FOR AN N-LINK MANIPULATOR WITH NONLINEAR DISTURBANCE OBSERVER
    Yang, Hongjun
    Liu, Jinkun
    INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION, 2016, 31 (03): : 206 - 212
  • [17] COMPOSITE CONTROL OF THE n-LINK CHAINED MECHANICAL SYSTEMS
    Zikmund, Jiri
    KYBERNETIKA, 2008, 44 (05) : 664 - 684
  • [18] Lyapunov-based Controllers of an n-link Prismatic Robot Arm
    Chand, Ronal P.
    Kumar, Sandeep A.
    Chand, Ravinesh
    Tamath, Robert
    2021 IEEE ASIA-PACIFIC CONFERENCE ON COMPUTER SCIENCE AND DATA ENGINEERING (CSDE), 2021,
  • [19] On n-Link Planar Revolute Robot: Motion Equations and New Properties
    Liu, Yannian
    Xin, Xin
    Wu, Jinglong
    2014 11TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA), 2014, : 3286 - 3291
  • [20] New Adaptive Control Methods for n-Link Robot Manipulators With Online Gravity Compensation: Design and Experiments
    Yang, Tong
    Sun, Ning
    Fang, Yongchun
    Xin, Xin
    Chen, He
    IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2022, 69 (01) : 539 - 548
12345