tailieunhanh - Control of Robot Manipulators in Joint Space - R. Kelly, V. Santibanez and A. Loria Part 2

Tham khảo tài liệu 'control of robot manipulators in joint space - r. kelly, v. santibanez and a. loria part 2', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 10 1 What Does Control of Robots Involve Figure . Robotic system camera in hand the block-diagram corresponding to the case when the outputs are the joint positions and velocities that is y f while T is the input. In this case notice that for robots with n joints one has in general 2n outputs and n inputs. ROBOT Figure . Input-output representation of a robot Dynamic Model Atthis stage onedeterminesthe mathematicalmodelwhich re latestheinput variablesto general such mathematical representation of the system is realized by ordinary differential equations. The system s mathematical model is obtained typically via one of the two following techniques. Dynamic Model 11 Analytical this procedure is based on physical laws of the system s motion. This methodology has the advantage of yielding a mathematical model as precise as is wanted. Experimental this procedure requires a certain amount of experimental data collected from the system itself. Typically one examines the system s behavior under specific input signals. The model so obtained is in general more imprecise than the analytic model since it largely depends on the inputs and the operating point1. However in many cases it has the advantage of being much easier and quicker to obtain. On certain occasions at this stage one proceeds to a simplification of the system model to be controlled in order to design a relatively simple controller. Nevertheless depending on the degree of simplification this may yield malfunctioning of the overall controlled system due to potentially neglected phJrtd phenomena control system to oope with errors duito neglected dynarmtsrs oornrnontyrtfertee to eefehmt Thst iota syprcalty is interested in designing robust controllers. t Inothersrtnationo medeirno pyrtorrns the prebiyytefptc obseet task e e ot d fferent phbseratpararneters nte t te ta yt rnahc dpnannammlef. The .