This paper describes a newly designed decentralized nonlinear control strategy to control a robot manipulator. Based on the concept of the nonlinear state feedback theory and decentralized concept is developed to improve the drawbacks in previous works concerned with complicate intelligent control and low cost effective sensor. The control methodology is derived in the sense of Lyapunov theorem so that the stability of the control system is guaranteed. The decentralized algorithm does not require other joint angle and velocity information. Individual Joint controller is implemented using a digital processor with nearly actuator to make it possible to achieve good dynamics and modular. Computer simulation result has been conducted to validate the effectiveness of the proposed control scheme under the occurrence of possible uncertainties and different reference trajectories. The merit of the proposed control system is indicated in comparison with a classical control system.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    The Decentralized Nonlinear Controller of Robot Manipulator with External Load Compensation


    Beteiligte:
    Sun Lim (Autor:in) / Il-Kyun Jung (Autor:in)

    Erscheinungsdatum :

    23.04.2010


    Anmerkungen:

    oai:zenodo.org:1080498



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629






    Robust Nonlinear Control of Two Links Robot Manipulator and Computing Maximum Load

    Hasanifard Goran / Habib Nejad Korayem Moharam / Nikoobin Amin | BASE | 2009

    Freier Zugriff

    Implementation Of Neurofuzzy Controller To Robot Manipulator

    Anwari, Sabat | BASE | 2016

    Freier Zugriff

    A Design of Robust Controller for Robot Manipulator

    Cai, D. / Yamaura, H. / Shidama, Y. | British Library Online Contents | 1995