Application of Variable Structure Systems Theory in Manipulator Control

Kaynak, Okyay

doi:10.1007/978-3-642-82153-0_21

Okyay Kaynak⁴

Part of the book series: NATO ASI Series ((NATO ASI F,volume 11))

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Abstract

The design of controllers for industrial manipulators and robot arms can be a very difficult task for control engineers. The dynamics of manipulators result in non-linear differential equations with coupled terms due to Coriolis and centrifugal torques, gravitational torques and reaction torques stemming from the acceleration of other joints. Compensation for the non-linearities is possible to some extent, but it requires a detailed model of the system and is complex and costly to implement. Furthermore, the non-linearities are usually time varying.

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References

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Authors and Affiliations

Boğaziçi University, P. K. 2, Bebek, Istanbul, Turkey
Okyay Kaynak

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Okyay Kaynak
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Editors and Affiliations

Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, Massachusetts, USA
Michael Brady (Senior Research Scientist) (Senior Research Scientist)
Electrical, Computer, and Systems Engineering Department, Rensselaer Polytechnic Institute, Troy, New York, USA
Lester A. Gerhardt (Chairman and Professor) (Chairman and Professor)
Department of the Army, Washington, D.C., USA
Harold F. Davidson (Consultant) (Consultant)

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Kaynak, O. (1984). Application of Variable Structure Systems Theory in Manipulator Control. In: Brady, M., Gerhardt, L.A., Davidson, H.F. (eds) Robotics and Artificial Intelligence. NATO ASI Series, vol 11. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-82153-0_21

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DOI: https://doi.org/10.1007/978-3-642-82153-0_21
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-82155-4
Online ISBN: 978-3-642-82153-0
eBook Packages: Springer Book Archive

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