Automatic Control of Robot Motion.

Abstract

The feasibility of controlling the three link rectangular and revolute robots with an adaptive computer simulation model, using a curve following technique, is investigated. Both configurations are tested for different load conditions, for rejection of random disturbances and for robustness in the case of servo motor parameter variations. The interactive nonlinear dynamics of the revolute robot, such as coupling inertia, actuator dynamics, centripetal and coriolis forces, are also investigated. First a gravity-free environment is assumed and then the robot arms are tested under gravitational torques. Keywords: Theses, Computer programs, Mathematical models.

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Document Details

Document Type
Technical Report
Publication Date
Dec 01, 1987
Accession Number
ADA191012

Entities

People

  • George P. Kalogiros

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Air Platforms
  • Autonomy
  • Weapons Technologies

DTIC Thesaurus Topics

  • Actuators
  • Cartesian Coordinates
  • Collision Avoidance
  • Computational Science
  • Computer Simulations
  • Computers
  • Control Systems
  • Coordinate Systems
  • Differential Equations
  • Dynamics
  • Equations
  • Equations Of Motion
  • Mathematical Models
  • Nonlinear Dynamics
  • Physical Properties
  • Simulations
  • Transfer Functions

Fields of Study

  • Engineering

Readers

  • Aerodynamics.
  • Regression Analysis.
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Bayesian Inference
  • AI & ML - Machine Learning Algorithms
  • Autonomy
  • Autonomy - Autonomous System Control