• DocumentCode
    3054249
  • Title

    On the interactive design of control systems for robotic manipulators

  • Author

    Goldenberg, A.A.

  • Author_Institution
    University of Toronto, Toronto, Ontario, Canada
  • fYear
    1983
  • fDate
    - Dec. 1983
  • Firstpage
    1227
  • Lastpage
    1232
  • Abstract
    An approach to the interactive design of control systems for robotic manipulators is presented. The approach is based on the "inverse problem" technique, a linear state feedback of the joint servomechanism and a disturbance rejection technique. The approach is a step-by-step procedure which is part of a computer aided design (CAD) package for robotic manipulators. In this paper, the procedure is described and applied to the analysis of motion of a six degree of freedom manipulator which performs a welding operation.
  • Keywords
    Control systems; Design automation; Inverse problems; Manipulators; Motion analysis; Packaging; Performance analysis; Robot control; Servomechanisms; State feedback;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Decision and Control, 1983. The 22nd IEEE Conference on
  • Conference_Location
    San Antonio, TX, USA
  • Type

    conf

  • DOI
    10.1109/CDC.1983.269721
  • Filename
    4047752
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3054249