Elements to teach robot control design

Abstract

A consistent methodology that has been used to teach the design of robot controllers is described. The dynamics of manipulators with or without closed loops are analyzed using the traditional Lagrangian approach, while the feedback law construction is realized by means of the nonlinear decoupling method. A guide to computing the delay time allowed to the computational cycle of control laws is provided.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>