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
  • [31] Number of cycles and position error in cyclic inverse kinematics for n-link serial robot
    Bobovsky, Zdenko
    Trebuna, Frantisek
    Smrcek, Juraj
    MODELLING OF MECHANICAL AND MECHATRONICS SYSTEMS, 2012, 48 : 35 - 39
  • [32] Controllability and Observability of n-Link Underactuated Planar Robot with Multiple Active Intermediate Links
    Xin, Xin
    2016 IEEE 55TH CONFERENCE ON DECISION AND CONTROL (CDC), 2016, : 6697 - 6702
  • [33] A set of decentralized PM controllers for an n - link robot manipulator
    Leena, G.
    Ray, G.
    SADHANA-ACADEMY PROCEEDINGS IN ENGINEERING SCIENCES, 2012, 37 (03): : 405 - 423
  • [34] A set of decentralized PID controllers for an n – link robot manipulator
    G LEENA
    G RAY
    Sadhana, 2012, 37 : 405 - 423
  • [35] Modeling and Analyses of the N-link PenduBot
    Yuan Shao-qiang
    Li Xin-xin
    INFORMATION AND AUTOMATION, 2011, 86 : 697 - 703
  • [36] Lyapunov-Based Nonlinear Disturbance Observer for Serial n-Link Robot Manipulators
    Amin Nikoobin
    Reza Haghighi
    Journal of Intelligent and Robotic Systems, 2009, 55 : 135 - 153
  • [37] Swing-up control based on virtual composite links for n-link underactuated robot with passive first joint
    Xin, Xin
    She, Jin-Hua
    Yamasaki, Taiga
    Liu, Yannian
    AUTOMATICA, 2009, 45 (09) : 1986 - 1994
  • [38] Lyapunov-Based Nonlinear Disturbance Observer for Serial n-Link Robot Manipulators
    Nikoobin, Amin
    Haghighi, Reza
    JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 2009, 55 (2-3) : 135 - 153
  • [39] Controllability and Optimal Strokes for N-link Microswimmer
    Giraldi, Laetitia
    Martinon, Pierre
    Zoppello, Marta
    2013 IEEE 52ND ANNUAL CONFERENCE ON DECISION AND CONTROL (CDC), 2013, : 3870 - 3875
  • [40] Lyapunov-based nonlinear controllers for obstacle avoidance with a planar n-link doubly nonholonomic manipulator
    Sharma, B.
    Vanualailai, J.
    Singh, S.
    ROBOTICS AND AUTONOMOUS SYSTEMS, 2012, 60 (12) : 1484 - 1497
12345