Modeling and Control of Robotic Manipulators

摘要

The application of robotic manipulators in industrial manufacturing has grown rapidly during the last decades. In some fields such as spot welding and spray painting the use of robots is very common since reliable and rather simple modeling and control techniques are available. Utilisation of heavy rigid robots with high gear ratios allows to use simple linear models and linear control techniques. As robot application became more popular in industry it proved to be desirable to let the robot do more sophisticated tasks such as assembly, arc welding, grinding a.s.o. and to increase the robots working speed. The solution of these problems as well as the increasing appearance of direct drive robots required to consider the nonlinear coupled structure of robot mechanics.KeywordsSpot WeldingJoint PositionRobotic ManipulatorCartesian SpaceJoint VelocityThese keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.