By Topic

Structural network modeling and control of rigid body robots

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

2 Author(s)
Ge, S.S. ; Dept. of Electr. Eng., Nat. Univ. of Singapore, Singapore ; Hang, C.C.

In this paper, two new parametric network models of robots are presented based on the systems' own functions. The complete dynamics of robots are given in a ready-to-used format which is constructed by finite dimensional static parametric networks for the inertia matrix and the potential energy (or the gravitational forces). As a result, dynamic models of robots can be automatically generated by software once given the number of degrees of freedom (DOF) and the sequence of the joint types, without knowing other parameters such as the lengths and the twist angles of the links. An existing adaptive controller is used as an example to show that some of the controllers can be easily modified such that adaptive controllers can be automatically generated. It is shown that all the closed-loop signals are bounded and tracking error goes to zero

Published in:

Robotics and Automation, IEEE Transactions on  (Volume:14 ,  Issue: 5 )