PD-TYPE CONTROLLER IN TERMS OF GENERALIZED VELOCITY COMPONENTS

P. Herman

Keywords

Manipulators, dynamics, matrix equations, inertia matrix, PDcontrol

Abstract

In this paper the usefulness of equations of motion expressed in terms of generalized velocity components (GVC) is considered. Based on these equations, a PD-type controller for a rigid serial manipulator is proposed. The GVC differ from well-known quasi-velocities because they contain both kinematics and dynamics parameters of the system. Introducing GVC allows us to obtain two ļ¬rstorder differential equations instead of one second-order equation. As a consequence, the controller in terms of GVC is decoupled. Additionally, some interesting features are observable if the GVC controller is used. They arise from the fact that some quantities can be determined for each joint or for each link individually.

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