Cart (Loading....) | Create Account
Close category search window
 

Resolved-acceleration control of mechanical manipulators

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Luh, J.Y.S. ; Purdue University, Lafayette, IN, USA ; Walker, M.W. ; Paul, R.P.C.

Position control of a manipulator involves the practical problem of solving for the correct input torques to apply to the joints for a set of specified positions, velocities, and accelerations. Since the manipulator is a nonlinear system whose joints are highly coupled, it is very difficult to control. This paper presents a technique which adopts the idea of "inverse problem" and extends the results of "resolved-motion-rate" controls. The method deals directly with the position and orientation of the hand. It differs from others in that accelerations are specified and that all the feedback control is done at the hand level. The control algorithm is shown to be asymptotically convergent. A PDP 11/45 computer is used as part of a controller which computes the input torques/forces at each sampling period for the control system using the Newton-Euler formulation of equations of motion. The program is written in floating point assembly language, and has an average execution time of less than 11.5 ms for a Stanford manipulator. This makes a sampling frequency of 87 Hz possible. The controller is verified by an example which includes a simulated manipulator.

Published in:

Automatic Control, IEEE Transactions on  (Volume:25 ,  Issue: 3 )

Date of Publication:

Jun 1980

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.