Control Of Robot Manipulators

Abstract

The dynamic equations of a robot manipulator, derived from the Euler or Lagrangian formulation, are governed by a set of highly non-linear and strongly coupled differential equations. The design of a controller to ensure fast, smooth and accurate control of a robot m anipulator motion becomes a great challenge. This pa er discusses several methods of designing a controller for a robot manipulator. Performances of time-invariant and time-varying controllers designed by the computed torque technique and the feedback linearization technique are compared in the control of a 3-joint manipulator. It is noted that timevaryin controllers are superior to time-invariant contro!Llers in convergence time, steady state accuracy and control e fforts.