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Nonlinear robot control based on improved joint modelGrčar, Bojan ; Cafuta, Peter, 1951- ; Žnidarič, MitjaCilj prispevka je celovita obravnava aktuatorjev, prenosov in členov v načrtovanju vodenja robotskih manipulatorjev. Model robotskega sklepa je razširjen z integratorskim modelom trenja in nelinearno ... elastičnostojo. Parametri nelinearnega modela sklepa so identificirani na osnovi eksperimentalnih podatkov. Formaliziran postopek natančne vhodno-izhodne linearizacije, ki omogoča vpeljavo linearnih lokalnih regulatorjev, je uporabljen za nominalno progo. Robustnost regulacijskega predpisa je izboljšana z Ljapunovim popravkom za določen razred parameterskih perturbacij in vpliva nemodelirane dinamike. Simulacijski rezultati so dobljeni za laboratorijski SCARA manipulator.Source: Elektrotehniški vestnik. - ISSN 0013-5852 (60, no. 2/3, 1993, str. 129-136)Type of material - article, component partPublish date - 1993Language - englishCOBISS.SI-ID - 5095428
Author
Grčar, Bojan |
Cafuta, Peter, 1951- |
Žnidarič, Mitja
Other authors
Drev, Maja
Topics
robotika |
avtomatska regulacija |
vodenje robota |
nelinearno vodenje |
načrtovanje nelinearnega upravljanja |
modeliranje |
Lyapunov |
Scara robot |
automatic control |
robotics |
robot control |
modelling |
nonlinear control |
design |
Lyapunov |
Scara robot
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Database name | Field | Year |
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Links to authors' personal bibliographies | Links to information on researchers in the SICRIS system |
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Grčar, Bojan | 09479 |
Cafuta, Peter, 1951- | 05543 |
Žnidarič, Mitja | 11345 |
Drev, Maja | ![]() |
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