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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    Title :

    Inertial-space disturbance rejection for robotic manipulators


    Contributors:
    Holt, Kevin (author)

    Publication date :

    1992-11-01


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English


    Keywords :




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