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Romansy 13 pp 215-222 | Cite as

A Comparison Between PD Controls in Terms of Normalized and Unnormalized Quasi-Velocities

  • Krzysztof Kozłowski
  • Przemysław Herman
Conference paper
Part of the International Centre for Mechanical Sciences book series (CISM, volume 422)

Abstract

This paper presents a new controls for manipulators whose dynamics is expressed in terms of quasi-velocities Jain A., Rodriguez G. (1995). In contrary to previous algorithms Herman P. (1997) these controls consider also gravitational forces. Robot dynamic algorithms in terms of quasi-velocities are recursive in nature and consists of two recursions: one starts from a base of the manipulator towards its tip and the second in opposite direction. Both recursions are described by using vector-matrix notation. The considered controls allow to achieve end point of trajectory in Cartesian space. The controls were tested on a two degrees of freedom manipulator.

Key Words

Robots PD control spatial algebra Cartesian space quasi-velocities gravitational forces. 

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References

  1. Canudas de Wit C., Siciliano B., Bastin G.(Eds). (1996) Theory of Robot Control. Springer-Verlag Ltd., London, 1996.zbMATHGoogle Scholar
  2. Herman P. (1997) New Robot Control Algorithms Using Articulated Body Inertia. Ph.D. Dissertation, Poznan University of Technology (in Polish).Google Scholar
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Copyright information

© Springer-Verlag Wien 2000

Authors and Affiliations

  • Krzysztof Kozłowski
    • 1
  • Przemysław Herman
    • 1
  1. 1.Chair of Control, Robotics, and Computer SciencePoznań University of TechnologyPoznańPoland

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