Title :
Elements to teach robot control design
Author_Institution :
Univ. d´´E.V.E., Evry, France
fDate :
2/1/1993 12:00:00 AM
Abstract :
A consistent methodology that has been used to teach the design of robot controllers is described. The dynamics of manipulators with or without closed loops are analyzed using the traditional Lagrangian approach, while the feedback law construction is realized by means of the nonlinear decoupling method. A guide to computing the delay time allowed to the computational cycle of control laws is provided
Keywords :
closed loop systems; control system synthesis; education; feedback; robots; teaching; Lagrangian approach; closed loops; control system synthesis; delay time; design; feedback law construction; manipulators; nonlinear decoupling method; robot controllers; teaching; Education; Educational robots; Equations; Industrial control; Lagrangian functions; Manipulator dynamics; Robot control; Robot kinematics; Service robots; Tensile stress;
Journal_Title :
Education, IEEE Transactions on
