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Proceedings Paper

Realization Of A Decentralized Control For A Robot
Author(s): J. C. Fraile Marinero; R. Grossi Calleja; J. R. Peran Gonzalez
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Paper Abstract

In this paper the synthesis of a decentralized control for a robotic system is performed. In this control the robotic system is considered like a set of independent subsystems each corresponding to a separate joint and coupling among them is neglected. We have developed a computer program for obtaining a local controller that stabilizes the local subsystem. This local controller is based in the pole placement dynamic controller. For this, we have obtained the mathematical model of each actuator of robot in the state domain, taking into account the inertia forces of the mechanical part around the i-th joint.

Paper Details

Date Published: 19 October 1987
PDF: 8 pages
Proc. SPIE 0853, IECON '87: Industrial Applications of Control and Simulation, (19 October 1987); doi: 10.1117/12.942940
Show Author Affiliations
J. C. Fraile Marinero, Universidad de Valladolid (Spain)
R. Grossi Calleja, Universidad de Valladolid (Spain)
J. R. Peran Gonzalez, Universidad de Valladolid (Spain)

Published in SPIE Proceedings Vol. 0853:
IECON '87: Industrial Applications of Control and Simulation
Tom T. Hartley, Editor(s)

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