Pulse width modulated control of robotic manipulators
作者:
HEBERTT SIRA-RAMIREZ,
MOHAMED ZRIBI,
SHAHEEN AHMAD,
期刊:
International Journal of Systems Science
(Taylor Available online 1993)
卷期:
Volume 24,
issue 8
页码: 1423-1437
ISSN:0020-7721
年代: 1993
DOI:10.1080/00207729308949572
出版商: Taylor & Francis Group
数据来源: Taylor
摘要:
We propose a practical discontinuous feedback control scheme for the regulation of joint positions of robotic manipulators. A robust on-off switching control strategy based on a pulse-width-modulation (PWM) feedback scheme is proposed for the joint torques. The discontinuous PWM controller design is carried out on the basis of a suitable controller designed for an average model which is of continuous nature. Simulations of the closed-loop performance of the proposed control scheme are presented for a two-link robotic manipulator.
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