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

Danut Receanu

doi:10.4028/www.scientific.net/AMM.430.135

Paper Titles

Monitoring the Behaviour of Fireworks to Vibrations and the Establishment of the Mechanical Conditioning Influence
p.108

Acoustical Methods Used in the Study of Concrete Durability
p.113

Testing of Level of Vibration and Parameters of Bearings in Industrial Fan
p.118

Influence of Heavy Data Transmission Losses on Spectra of Signals
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Compensations of the Discontinuous Nonlinearities in the Independent Joints Control of an Articulated Robot
p.135

Modeling and Testing of a New Dynamic Balancing System Based on Magnetic Interaction
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Analytic-Experimental Method for Determining the Eccentricity of a Cantilever Rotor
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Study on Vibration Transmission, with Application to the Calibration of a Measuring Stand
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Vibrations Modeling and Simulation Using Stochastic Bondsim Elements
p.158

HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 430Compensations of the Discontinuous Nonlinearities...

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

Abstract:

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.