Graduate Thesis Or Dissertation
 

Robust nonlinear decentralized control of robot manipulators

Pubblico Deposited

Contenuto scaricabile

Scarica il pdf
https://ir.library.oregonstate.edu/concern/graduate_thesis_or_dissertations/d791sj48d

Descriptions

Attribute NameValues
Creator
Abstract
  • A new decentralized nonlinear controller for Robot Manipulators is presented in this thesis. Based on concepts of Lyapunov stability theory and some control ideas proposed in [3]-[7], we obtain continuous nonlinear decentralized control laws which guarantee position and velocity tracking to within an arbitrarily small error. Assumptions based on physical constraints of manipulators are made to guarantee the existence of the controller and asymptotic stability of the closed loop system. Simulations show how well this rather simple control scheme works on two of the links of the Puma 560 Manipulator. The main contribution of this thesis is that it extends the results of a class of complex centralized control algorithms to the decentralized robust control of interconnected nonlinear subsystems like robot manipulators.
Resource Type
Date Available
Date Issued
Degree Level
Degree Name
Degree Field
Degree Grantor
Commencement Year
Advisor
Academic Affiliation
Non-Academic Affiliation
Subject
Dichiarazione dei diritti
Publisher
Peer Reviewed
Language
Digitization Specifications
  • File scanned at 300 ppi (Monochrome) using Capture Perfect 3.0 on a Canon DR-9050C in PDF format. CVista PdfCompressor 4.0 was used for pdf compression and textual OCR.
Replaces

Le relazioni

Parents:

This work has no parents.

In Collection:

Elementi

Thumbnail Titolo Data caricata Visibilità Azioni
file details JimenezRonald1992.pdf 2017-08-04 Pubblico Scaricare