Title :
Application of the feedback linearization control to a new industrial tele robot
Author :
Schlotter, A. ; Pfeiffer, F.
Author_Institution :
Tech. Univ. Munchen, Garching, Germany
Abstract :
Feedback linearization control considers the nonlinear dynamics of a system. It can be used to control a tele robot online, which reduces vibration excitation. The mechanical model of a new industrial robot with highly non-linear kinematics is developed. Feedback linearization control is tested on it by simulation. Results are compared to a conventional linear single-joint controller
Keywords :
feedback; industrial manipulators; linearisation techniques; robot dynamics; robot kinematics; telerobotics; TELEBOT; feedback linearization control; highly nonlinear kinematics; industrial tele robot; linear single-joint controller; mechanical model; nonlinear dynamics; vibration excitation; Control systems; Electrical equipment industry; Kinematics; Linear feedback control systems; Nonlinear control systems; Nonlinear dynamical systems; Robot control; Service robots; Testing; Vibration control;
Conference_Titel :
Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on
Conference_Location :
Victoria, BC
Print_ISBN :
0-7803-4465-0
DOI :
10.1109/IROS.1998.727426
