Compensations of the Discontinuous Nonlinearities in the Independent Joints Control of an Articulated Robot

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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.

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Edited by:

Nicolae Herişanu and Vasile Marinca

Pages:

135-142

Citation:

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

Online since:

September 2013

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[1] Etieme Dombre, Wisama Khalil-Robot Manipulators (Modeling, Performance, Analysis and Control of Robot Manipulators), ISTE Ltd, 2007, USA.

DOI: https://doi.org/10.1002/9780470612286

[2] Khalil H., (2002), Nonlinear Systems, Printice-Hall.

[3] Olson H.,., (1998), Friction models and friction compensation, Journal of Control.

[4] Mark W. Spong,., -Robot Modeling and Control, 2004, John Wiley&Sons, Inc., New York.

[5] Receanu D., Budescu E., (2010).

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