DocumentCode
2302502
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
Volume
2
fYear
1998
fDate
13-17 Oct 1998
Firstpage
978
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on
Conference_Location
Victoria, BC
Print_ISBN
0-7803-4465-0
Type
conf
DOI
10.1109/IROS.1998.727426
Filename
727426
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