Control of Robot Manipulators

Eduardo Bayro-Corrochano ()
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Eduardo Bayro-Corrochano: CINVESTAV, Electrical Engineering and Computer Science Department

Chapter Chapter 12 in Geometric Algebra Applications Vol. II, 2020, pp 361-377 from Springer

Abstract: Abstract In this chapter, we present the localized control policy which is possible due to the computing of the local dynamic model at each robot joint computed using the recursive Newton–Euler algorithm. We compute the local Hamiltonians at each joint and derive their localized controllers as well. In the experimental part, we compare the performance of PD, Bang–Bang, and sliding mode controllers.

Date: 2020
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Persistent link: https://EconPapers.repec.org/RePEc:spr:sprchp:978-3-030-34978-3_12

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DOI: 10.1007/978-3-030-34978-3_12

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