Flat control of industrial robotic manipulators

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• 作者：Elisha D. Markus^a ; ^{emarkus@cut.ac.za}Author Vitae ; John T. Agee^bAuthor Vitae ; Adisa A. Jimoh^cAuthor Vitae
• 关键词：Industrial robots ; Six degrees of freedom robot ; Differential flatness ; Trajectory planning ; Tracking control
• 刊名：Robotics and Autonomous Systems
• 出版年：2017
• 出版时间：January 2017
• 年：2017
• 卷：87
• 期：Complete
• 页码：226-236
• 全文大小：1465 K
• 卷排序：87

文摘

Computational burden of high order robotic control significantly reduced. Computation of flat output for 6-DOF robotic manipulator presented. Comparison between PID and Flatness based control of ABB IRB140 robot provided. Tracking control of 6-DOF ABB IRB140 robot in Joint space and Task space presented.