An inherently discrete-time dynamic robot model which is compact and designed for trajectory planning and computer control of robots has been developed. The model guarantees conservation of robot energy over each sampling period as well as robust continuous and discrete-time nonlinear feedback robot control algorithms which are insensitive to modeling inaccuracies, unmodeled dynamics and parameter errors. The authors evaluate applications of the robot model and control algorithms on the three degree-of-freedom positioning system of an articulated manipulator.
|Number of pages
|Proceedings of the IEEE Conference on Decision and Control
|Published - 1985
ASJC Scopus subject areas
- Control and Systems Engineering
- Modelling and Simulation
- Control and Optimization