Decoupling of a Two-Axis Robotic Manipulator Using Nonlinear State Feedback: A Case Study
Decoupling of a Two-Axis Robotic Manipulator Using Nonlinear State Feedback: A Case Study
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使用非线性状态反馈的两轴机器人操纵器的解耦：案例研究
DOI：
10.1177/027836498400300304
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发表时间：
1984
期刊：
影响因子：
--
通讯作者：
R. Schilling
中科院分区：
文献类型：
--
作者：
S. Fournier;R. Schilling
一个案例研究说明了使用非线性状态馈电的使用，以将两轴极性机器人操作器的控制。研究了一种类型的位置cou pling和两种类型的速度耦合。在每种情况下，分解补偿的应用都会导致机器人组的性能明显提高。检查了使用微型计算机控制器和低分辨率传感器将非线性状态反馈控制定律应用于廉价，间接驱动机器人组的实施困难。
A case study that illustrates the use of nonlinear state feed back to decouple the control of a two-axis polar-coordinate robotic manipulator is presented. One type of position cou pling and two types of velocity coupling are investigated. In each case, the application of decoupling compensation results in marked improvement in the performance of the robotic arm. The implementation difficulties associated with apply ing a nonlinear state-feedback control law to an inexpensive, indirect-drive robotic arm, using a microcomputer controller and low-resolution sensors, are examined.