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    Control strategies for robotic manipulators


    Ringwood, John (1989) Control strategies for robotic manipulators. In: 6th IMC Conference on Advanced manufacturing technology. Dublin City University, pp. 1133-1154. ISBN 1872327001

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    Abstract

    The dynamic end-point positioning problem for robotic manipulators is considered. A review of the current approaches to the problem is presented with a critical examination of each technique. A close inspection of the structure of a typical manipulator model is performed to investigate the suitability of the various control approaches. In particular, the PUMA 5 60 Industrial Manipulator is considered. The advantages and disadvantages of various techniques, including linear and non-linear, fixed and adaptive methods are given and a current approach, based on non-linear self-tuning theory is presented. An attempt is made to give some appreciation of the relative computational complexity of various algorithms and a number of possible hardware architectures for control are discussed. Finally, conclusions regarding the choice of dynamic control algorithms for manipulators are drawn.

    Item Type: Book Section
    Keywords: Control strategies; robotic manipulators; PUMA 5 60 Industrial Manipulator;
    Academic Unit: Faculty of Science and Engineering > Electronic Engineering
    Item ID: 9567
    Depositing User: Professor John Ringwood
    Date Deposited: 19 Jun 2018 14:39
    Publisher: Dublin City University
    Refereed: Yes
    URI:

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