Engineering design of a multirate nonlinear controller for robot manipulators
作者:
J. A. Tenreiro Machado,
J. L. De Martins Carvalho,
期刊:
Journal of Robotic Systems
(WILEY Available online 1989)
卷期:
Volume 6,
issue 1
页码: 1-17
ISSN:0741-2223
年代: 1989
DOI:10.1002/rob.4620060102
出版商: Wiley Subscription Services, Inc., A Wiley Company
数据来源: WILEY
摘要:
AbstractA new multirate nonlinear controller for robot manipulators is described. The algorithm stems from the computed torque method, but has several modifications on its structure, resulting in a more robust controller.The main philosophy behind those improvements resides on a sound engineering and management of the system resources. Consequently, the use of multirate sampling, memory tables, and predictive action arises naturally from that methodology.The resulting controller is easy to tune using standard industrial engineering practice; moreover, by alleviating the computational burden its implementation is feasible with present day microprocessors.
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