Referenced Items are not available for this document.
The dynamic decoupling problem for a rigid body model of a remote manipulator system is studied. An open-loop decoupling compensator is proposed, which is compatible with the independent-joint-control design philosophy currently adopted in most industrial manipulator systems. Decoupling is achieved by implementing a precompensator at the input to the joint drive system. The feasibility of the decoupling scheme is demonstrated via simulation experiments on the model of a two-joint manipulator system with arms in planar motion.
Published in:
Automatic Control, IEEE Transactions on
(Volume:23
,
Issue:
4
)
Date of Publication: Aug 1978
- Page(s):
- 713 - 717
- ISSN :
- 0018-9286
- Digital Object Identifier :
- 10.1109/TAC.1978.1101827
- Product Type:
- Journals & Magazines
- Date of Current Version :
- 06 January 2003
- Issue Date :
- Aug 1978
- Sponsored by :
- IEEE Control Systems Society
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