Hostname: page-component-586b7cd67f-dlnhk Total loading time: 0 Render date: 2024-11-23T20:26:58.991Z Has data issue: false hasContentIssue false
  • English
  • Français

Numerical complexity of decentralized dynamic control laws for manipulator systems

Published online by Cambridge University Press:  09 March 2009

M. Vukobratović  and
N. Kirćanski
M. Vukobratović
Affiliation:
Institute Mihailo Pupin, Belgrade (Yugoslavia)
N. Kirćanski
Affiliation:
Institute Mihailo Pupin, Belgrade (Yugoslavia)
Get access Rights & Permissions [Opens in a new window]

Abstract

SUMMARY

The numerical complexity of robot dynamic models, inverse control structures and decentralized control laws is analyzed in a systematic fashion. Dynamic models of actuators (DC motors and hydraulic cylinders) are taken into account, too. The exact number of floating-point multiplications and additions/subtractions for an n−link manipulator is determined. The results are applied to several typical industrial manipulators. Measuring of computation time for various control structures is realized on an up-to-date 16-bit microcomputer, widely used in robot controllers. Thereby, the real-time applicability and effectively the “price” of different control laws are estimated.

Type
Articles
Information
Robotica , Volume 4 , Issue 4 , October 1986 , pp. 255 - 262
Copyright
Copyright © Cambridge University Press 1986

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Cvetković, V. and Vukobratović, M., “Computer-Oriented Algorithm of Variable Complexity for Mathematical Modelling of Active Spatial Mechanisms for Application in Robotics” IEEE Trans. Systems, Man and Cybernetics SMC-12, 838–848 (1982).Google Scholar
2.Hollerbach, M.J., “A Recursive Lagrangian Formulation of Manipulator Dynamics and a Cooperative Study of Dynamics Formulation Complexity” IEEE Trans. on Systems, Man and Cybernetics. SMC-10, 730–736 (11 1980).Google Scholar
3.Vukobratović, M. and Kirćanski, N., “Computer Assisted Generation of Robot Dynamic Models in Analytical Form”, Intern. J. Appl. Mathematics and Mathematical Applications, Acta Applicandae Mathematicae 3, 49–70 (1985).Google Scholar
4.Vukobratović, M. and Kirćanski, N., “Real-Time Dynamics of Manipulation Robots” In: Scientific Fundamentals of Robotics, Vol. 4 (Springer-Verlag, Berlin, 1985).Google Scholar
5.Paul, R.C., “Modelling, Trajectory Calculation and Servoing of a Computer Controlled Arm”, Al. Memo 177, Stanford Artificial Intelligence Laboratory, Stanford University (09 1972) (also in Russian, Nauka, Moscow, 1976).Google Scholar
6.Bejczy, K.A., “Robot Arm Dynamics and Control” Technical Memorandum 33–669, Jet Propulsion Laboratory (02, 1974).Google Scholar
7.Pavlov, A.V. and Timofeyev, A.V., “Calculation and Stabilization of Programmed Motion of a Moving Robot-Manipulator” (in Russian) Teknicheskaya kibernetika, No. 6, 91–101 (1976).Google Scholar
8.Raibert, H.M. and Horn, B.H.P., “Manipulator Control Using the Configuration Space Method” The Industrial Robot 5, No. 2, 69–73 (06, 1979).CrossRefGoogle Scholar
9.Saridis, M.G. and Lee, G.C.S., “An Approximation Theory of Optimal Control for Trainable Manipulators” IEEE Trans. on Systems, Man and Cybernetics SMC-9, No. 3, 152–159 (1979).Google Scholar
10.Medvedov, B.S., Leskov, G.A. and Yuschenko, S.A., Control System of Manipulations Robots, (in Russian) (Nauka, Moscow, 1978).Google Scholar
11.Paul, P.R., Robot Manipulators: Mathematics, Programming and Control (The MIT Press, Cambridge, 1981).Google Scholar
12.Arimoto, S. and Miyazaki, F., “Stability and Robustness of PID Feedback Control for Robot Manipulators and Sensory Capability”, First Int. Symp. of Robotic Research, Bretton-Woods, New Hampshire, USA, pp. 783–801 (1983).Google Scholar
13.Vukobratović, M. and Stokić, D., “One Engineering Concept of Dynamic Control of Manipulators”, Trans. of the ASME, Journal of Dynamic Systems, Measurement and Control, Special Issue, Papers on Control of Robotic Devices, 103, No. 2, 108–119 (1981).Google Scholar
14.Vukobratović, M. and Stokić, D., Control of Manipulation Robots, Scientific Fundamentals of Robotics, Vol. 2 (Springer-Verlag, Berlin, 1982).CrossRefGoogle Scholar
15.Vukobratović, M. and Stokić, D., “Is Dynamic Control Needed in Robotic Systems and if so, to what Extent?”, Intern. J. Robotics Research 2, No. 2, 18–35 (1983).Google Scholar
16.Vukobratović, M., Stokić, D. and Kirćanski, N., Non-Adaptive and Adaptive Control of Manipulation Robots, Scientific Fundamentals in Robotics, Vol. 5, (Springer-Verlag, Berlin, 1985).Google Scholar
17.Luh, J.Y.S., Fisher, W.D. and Paul, R.C., “Joint Torque Control by a Direct Feedback for Industrial Robots” IEEE Trans. on Automatic Control AC-28, No. 2, 153–162 (02, 1982).CrossRefGoogle Scholar