Robot manipulator control with joint interaction estimation

Mohadjer, M.; Khoogar, Ahamad Reza

doi:10.1109/secon.1991.147761

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Synthesizing Control Systems for Multi-Degree of Freedom Manipulators

Dalay

Medvedev

Romanova

1996

Proceedings of the Institution of Mechanical Engineers, Part I:

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Methods of analysing single input and single output control systems are well established (I). The same is not true of techniques for solving problems involving multi-inputs and multi-outputs. Such problems arise when controlling manipulators having many degrees of freedom. In this paper techniques of control system synthesis for manipulator mechanisms are considered. The method is based on locating the roots of the characteristic equation to give the desired dynamic properties for every link's servo system in the mechanism. Each link is treated independently. Simple examples to illustrate the method are presented.

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