Compensations of the Discontinuous Nonlinearities in the Independent Joints Control of an Articulated Robot
The paper presents the nonlinear torsional vibrations control of the joints in an articulated industrial robot, in Simulink /MATLAB. In this case, it is considered the classical linear control combined with compensations of the natural discontinuous nonlinearities in a robot with low speed.
Nicolae Herişanu and Vasile Marinca
D. Receanu "Compensations of the Discontinuous Nonlinearities in the Independent Joints Control of an Articulated Robot", Applied Mechanics and Materials, Vol. 430, pp. 135-142, 2013