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.
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References
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© 2000 Springer-Verlag Wien
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Kozłowski, K., Herman, P. (2000). A Comparison Between PD Controls in Terms of Normalized and Unnormalized Quasi-Velocities. In: Morecki, A., Bianchi, G., Rzymkowski, C. (eds) Romansy 13. International Centre for Mechanical Sciences, vol 422. Springer, Vienna. https://doi.org/10.1007/978-3-7091-2498-7_22
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DOI: https://doi.org/10.1007/978-3-7091-2498-7_22
Publisher Name: Springer, Vienna
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