Control of robots with discrete nonlinear model: theory and experimentation

Author

Ganguly, S. ; Tarn, T.J. ; Bejczy, A.K.

Author_Institution

Dept. of Syst. Sci. & Math, Washington Univ., St. Louis, MO, USA

fYear

1991

fDate

9-11 Apr 1991

Firstpage

528

Abstract

The discrete time theory that feedback linearizes and output decouples the coupled nonlinear dynamics of the PUMA 560 robot arm is systematically developed. The effect of sampling on the performance of the arm has been studied and shown through experiments. Certain restrictions that are necessary on the sampling time of the system are shown. The results obtained have been experimentally verified. Since a number of researchers have addressed the problem of loss of feedback linearizability under sampling, it was important to develop theories and obtain results in discrete time that take into consideration the effects due to sampling. This problem is addressed

Keywords

discrete time systems; feedback; linearisation techniques; nonlinear control systems; robots; sampled data systems; PUMA 560; coupled nonlinear dynamics; discrete nonlinear model; discrete time systems; feedback linearizability; linearisation; robots; sampling time; Couplings; Feedback; Nonlinear equations; Nonlinear systems; Performance analysis; Robot control; Robot kinematics; Robot sensing systems; Robotics and automation; Sampling methods;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on

Conference_Location

Sacramento, CA

Print_ISBN

0-8186-2163-X

Type

conf

DOI

10.1109/ROBOT.1991.131633

Filename

131633