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

页码：1420 / 1427

页数：8

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