{"title":"包括驱动电机相互作用的非线性机器人控制","authors":"R. W. Beekmann, K. Y. Lee","doi":"10.1109/ACC.1988.4172951","DOIUrl":null,"url":null,"abstract":"A unified approach to a robust robotic control design which retains all the nonlinearities inherent in the dynamics is developed for motor-robot configuration considered as an interacting system. This control system design, based on decomposition and Freund's nonlinear decoupling control theory with arbitrary pole placement, decouples the motor-robot configuration into robot, motor, and series compliance (interaction) subsystems. This approach is in contrast to the conventional treatment of the motor as a pure torque source and the neglect of dynamic interactions between the robot joint and the motor drive mechanism.","PeriodicalId":6395,"journal":{"name":"1988 American Control Conference","volume":"18 1","pages":"1333-1338"},"PeriodicalIF":0.0000,"publicationDate":"1988-06-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"42","resultStr":"{\"title\":\"Nonlinear Robotic Control Including Drive Motor Interactions\",\"authors\":\"R. W. Beekmann, K. Y. Lee\",\"doi\":\"10.1109/ACC.1988.4172951\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"A unified approach to a robust robotic control design which retains all the nonlinearities inherent in the dynamics is developed for motor-robot configuration considered as an interacting system. This control system design, based on decomposition and Freund's nonlinear decoupling control theory with arbitrary pole placement, decouples the motor-robot configuration into robot, motor, and series compliance (interaction) subsystems. This approach is in contrast to the conventional treatment of the motor as a pure torque source and the neglect of dynamic interactions between the robot joint and the motor drive mechanism.\",\"PeriodicalId\":6395,\"journal\":{\"name\":\"1988 American Control Conference\",\"volume\":\"18 1\",\"pages\":\"1333-1338\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1988-06-15\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"42\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"1988 American Control Conference\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ACC.1988.4172951\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"1988 American Control Conference","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ACC.1988.4172951","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Nonlinear Robotic Control Including Drive Motor Interactions
A unified approach to a robust robotic control design which retains all the nonlinearities inherent in the dynamics is developed for motor-robot configuration considered as an interacting system. This control system design, based on decomposition and Freund's nonlinear decoupling control theory with arbitrary pole placement, decouples the motor-robot configuration into robot, motor, and series compliance (interaction) subsystems. This approach is in contrast to the conventional treatment of the motor as a pure torque source and the neglect of dynamic interactions between the robot joint and the motor drive mechanism.
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