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Erschienen in:
1984 | OriginalPaper | Buchkapitel
Application of Variable Structure Systems Theory in Manipulator Control
verfasst von : Okyay Kaynak
Erschienen in: Robotics and Artificial Intelligence
Verlag: Springer Berlin Heidelberg
Enthalten in: Professional Book Archive
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The design of controllers for industrial manipulators and robot arms can be a very difficult task for control engineers. The dynamics of manipulators result in non-linear differential equations with coupled terms due to Coriolis and centrifugal torques, gravitational torques and reaction torques stemming from the acceleration of other joints. Compensation for the non-linearities is possible to some extent, but it requires a detailed model of the system and is complex and costly to implement. Furthermore, the non-linearities are usually time varying.