The Near-Minimum Time Control of a Robot Arm

Abstract

The feasibility of controlling a robot manipulator in minimum time with an adaptive computer simulation model is investigated. Updating of model parameters; position, velocity and motor gain constant are accomplished from motor position only thereby eliminating the requirement for a tachometer. The interactive nonlinear dynamics of the system such as Coupling inertia, Centripetal forces, Actuator dynamics and Gravity effects are also investigated. A two link robot manipulator is chosen as the simulation model. Keywords: Charts: Curve following velocity loop servo.

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Document Details

Document Type
Technical Report
Publication Date
Dec 01, 1986
Accession Number
ADA176875

Entities

People

  • Kemal Ozaslan

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Air Platforms

DTIC Thesaurus Topics

  • Actuators
  • Adaptive Systems
  • Algorithms
  • Computer Simulations
  • Computers
  • Control
  • Couplings
  • Dynamics
  • Engineering
  • Equations
  • Manipulators
  • Mathematical Models
  • Mechanical Engineering
  • Molecular Orbital Theory
  • Nonlinear Dynamics
  • Physical Properties
  • Transfer Functions

Fields of Study

  • Engineering

Readers

  • Control Systems Engineering.
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Bayesian Inference
  • Autonomy