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A controller based o first-order decoupled equations of motio for applicatio to rigid serial manipulators is presented. The equations result from a modificatio of equations expressed i generalised velocity components form. It is sho that using the proposed quasi-velocities i.e. normalised generalised velocity components (NGVCs) leads to differential equations that contai the identity mass matrix (instead of a diagonal matrix). Using the proposed controller and equations ritte i terms of NGVCs it is possible to obtai informatio o the system dynamics. The considered controller is stable i the Lyapunov sense. Experimental results obtained o a 2DOF (t o-degree-of-freedom) manipulator illustrate the effectiveness of the proposed technique.
Control Theory and Applications, IEE Proceedings - (Volume:152 , Issue: 5 )
Date of Publication: 9 Sept. 2005