The disturbance rejection control problem for a 6-DOF (degree of freedom) PUMA manipulator mounted on a 3-DOF platform is investigated. A control algorithm is designed to track the desired position and attitude of the end-effector in inertial space, subject to unknown disturbances in the platform axes. Conditions for the stability of the closed-loop system are derived. The performance of the controller is compared for step, sinusoidal, and random disturbances in the platform rotational axis and in the neighborhood of kinematic singularities.


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    Titel :

    Inertial-Space Disturbance Rejection for Robotic Manipulators


    Beteiligte:
    K. Holt (Autor:in)

    Erscheinungsdatum :

    1992


    Format / Umfang :

    110 pages


    Medientyp :

    Report


    Format :

    Keine Angabe


    Sprache :

    Englisch






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