Discrete decentralized time-varying nonlinear control of robot manipulators

Abstract

Since in most robotic control problems the continuous manipulator system is digitally controlled along a trajectory, it is appropriate to use a discretized equivalent manipulator model for control design. The author describes such a model used at the joint level to design a decentralized controller. Compensation is provided for the interaction between manipulator joints. Local nonlinear feedback of the joint variables is developed using the manipulator dynamic equations. The control approach was tested using a multiprocessor architecture and a PUMA 560 robot arm.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>