Feedback Control of Robot Manipulators by Using Gravity and Inertial Effects Compensation

Kód výsledku v 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>

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

Feedback Control of Robot Manipulators by Using Gravity and Inertial Effects Compensation

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Feedback Control of Robot Manipulators by Using Gravity and Inertial Effects Compensation

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

—

Návaznosti

S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2019

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

Proceedings of the 20th International Carpathian Control Conference, ICCC 2019

ISBN

978-1-72810-701-1

ISSN

—

e-ISSN

—

Počet stran výsledku

6

Strana od-do

612-617

Název nakladatele

IEEE (Institute of Electrical and Electronics Engineers)

Místo vydání

New York

Místo konání akce

Kraków - Wieliczka, Hotel Turówka, Poland

Datum konání akce

26. 5. 2019

Typ akce podle státní příslušnosti

EUR - Evropská akce

Kód UT WoS článku

000490570500119