Title :
Discrete decentralized time-varying nonlinear control of robot manipulators
Author :
Tumeh, Zuheir S.
Author_Institution :
EDS Corp., Warren, MI, USA
Abstract :
Since in most robotic control problems the continuous manipulator system is digitally controlled along a trajectory, it is appropriate to use a discretized equivalent manipulator model for control design. The author describes such a model used at the joint level to design a decentralized controller. Compensation is provided for the interaction between manipulator joints. Local nonlinear feedback of the joint variables is developed using the manipulator dynamic equations. The control approach was tested using a multiprocessor architecture and a PUMA 560 robot arm
Keywords :
compensation; control system synthesis; decentralised control; discrete time systems; feedback; nonlinear control systems; robots; time-varying systems; PUMA 560 robot arm; compensation; control design; decentralized time-varying nonlinear control; discrete control; dynamic equations; local nonlinear feedback; manipulator joint interaction; multiprocessor architecture; robot manipulators; Control design; Digital control; Feedback; Induction motors; Manipulator dynamics; Nonlinear dynamical systems; Nonlinear equations; Power system modeling; Robot control; Torque control;
Conference_Titel :
Decision and Control, 1990., Proceedings of the 29th IEEE Conference on
Conference_Location :
Honolulu, HI
DOI :
10.1109/CDC.1990.203970
