DocumentCode
873911
Title
Elements to teach robot control design
Author
Vibet, Claude
Author_Institution
Univ. d´´E.V.E., Evry, France
Volume
36
Issue
1
fYear
1993
fDate
2/1/1993 12:00:00 AM
Firstpage
45
Lastpage
51
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;
fLanguage
English
Journal_Title
Education, IEEE Transactions on
Publisher
ieee
ISSN
0018-9359
Type
jour
DOI
10.1109/13.204815
Filename
204815
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