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A Teaching Robot for Demonstrating Robot Control Strategies*

Published online by Cambridge University Press:  09 March 2009

D. Wang ,
J.P. Huissoon  and
K. Luscott
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Summary

It is standard now in undergraduate and graduate courses in robotics to teach the basic concepts of position control design strategies. Due to the geared motors inherent in most educational and industrial manipulators, sophisticated control design strategies such as the inverse dynamics technique cannot be easily demonstrated in a laboratory setting. A direct drive 5-bar-linkage manipulator with reduced motor torque requirements is proposed in this paper for such a purpose. The manipulator dynamics are easily understood by undergraduates and an inverse dynamics control strategy is suggested which can be easily designed by students at the undergraduate level.

Keywords

Teaching robotControl strategiesInverse dynamicsStudents.
Type
Research Article
Information
Robotica , Volume 11 , Issue 5 , September 1993 , pp. 393 - 401
Copyright
Copyright © Cambridge University Press 1993

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References

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