Velocity control of robot manipulators: analysis and experiments

被引：13
|
作者：
Moreno, J [1 ]
Kelly, R [1 ]
机构：
[1] CICESE, Div Fis Aplicada, Ensenada 22800, Baja California, Mexico
来源：
INTERNATIONAL JOURNAL OF CONTROL | 2003年 / 76卷 / 14期
关键词：
DIRECT-DRIVE ROBOT; IDENTIFICATION; MOTORS; DESIGN; ARM;
D O I：
10.1080/00207170310001593010
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper addresses the velocity control of robot manipulators in joint space, assuming Lagrangian non-linear dynamics, by three control schemes resulting as extensions of proportional-integral velocity regulators of direct current motors. The feasibility of these control strategies is evaluated through experiments on a two degree-of-freedom direct-drive arm.
引用
收藏
页码：1420 / 1427
页数：8
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