Feedback Control of Robot Manipulators by Using Gravity and Inertial Effects Compensation
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216275%3A25530%2F19%3A39915145" target="_blank" >RIV/00216275:25530/19:39915145 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1109/CarpathianCC.2019.8765975" target="_blank" >http://dx.doi.org/10.1109/CarpathianCC.2019.8765975</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/CarpathianCC.2019.8765975" target="_blank" >10.1109/CarpathianCC.2019.8765975</a>
Alternative languages
Result language
angličtina
Original language name
Feedback Control of Robot Manipulators by Using Gravity and Inertial Effects Compensation
Original language description
The paper describes an approach to the robot manipulator control based on a compensation of non-linear gravity terms and inertial terms in the robot motion equations and applying the PD or PID-type control law. While benefits of the compensation of the gravity force effects are well known, the inertial effects compensation, which seems to be more difficult to implement, brings additional enhancement of the control quality. An approximate compensation can be carried out in a relatively simple and efficient way, if the robot dynamics is represented by a mass-point model. The remaining influences can be treated as disturbances. Unlike the inverse dynamics approach, complete and precise mathematical model of the robot is not needed, which is an important advantage, since models of robots containing more than three links are usually very complex and difficult to obtain.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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OECD FORD branch
20204 - Robotics and automatic control
Result continuities
Project
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Continuities
S - Specificky vyzkum na vysokych skolach
Others
Publication year
2019
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Article name in the collection
Proceedings of the 20th International Carpathian Control Conference, ICCC 2019
ISBN
978-1-72810-701-1
ISSN
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e-ISSN
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Number of pages
6
Pages from-to
612-617
Publisher name
IEEE (Institute of Electrical and Electronics Engineers)
Place of publication
New York
Event location
Kraków - Wieliczka, Hotel Turówka, Poland
Event date
May 26, 2019
Type of event by nationality
EUR - Evropská akce
UT code for WoS article
000490570500119