Chosen problems of robots mechanisms control
Abstract eng: In this contribution will be compared three methods of PD control of robots. The first is without gravity compensation, the second uses a constant gravity compensation and the last of them uses the full gravity compensation.. There are studied the complicacy of the design, the accuracy of control and the possibility of implementation in any control system with respecting the computing complicacy. The stability feedback is verified by Lyapunov theory of stability.
Publisher:
Institute of Theoretical and Applied Mechanics, AS CR, v.v.i., Prague
Conference Title:
Conference Title:
ENGINEERING MECHANICS 2006
Conference Venue:
Svratka (CZ)
Conference Dates:
2006-05-15 / 2006-05-18
Rights:
Text je chráněný podle autorského zákona č. 121/2000 Sb.
Record appears in:
Record created 2014-11-12, last modified 2014-11-18
guest ::
