Title :
Fundamental properties of rigid serial manipulators for control design
Author :
Chen, Y.H. ; Kuo, C.Y.
Author_Institution :
Georgia Inst. of Technol., Atlanta, GA, USA
Abstract :
We investigate certain fundamental properties of serial-link mechanical manipulators, as related to the control design. The manipulator has rigid links with revolute and/or prismatic joints. These properties include the upper bounds of the inertia matrix, Coriolis and centrifugal terms, and gravitational term. As an illustrative example, a robust control is proposed based on this analysis. The generic properties are also readily applicable to other control designs
Keywords :
Jacobian matrices; control system synthesis; manipulator kinematics; robust control; state-space methods; Jacobian matrices; control design; inertia matrix; kinematics; prismatic joints; revolute joints; rigid serial manipulators; robust control; state space; upper bounds; Adaptive control; Control design; Cranes; End effectors; Force control; Manipulators; Mechanical engineering; Mechanical factors; Robust control; Upper bound;
Conference_Titel :
American Control Conference, 1999. Proceedings of the 1999
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-4990-3
DOI :
10.1109/ACC.1999.782312
