Please use this identifier to cite or link to this item: https://hdl.handle.net/10356/19597
Title: Tracking controller design for robot manipulators including motor dynamics
Authors: Yin, Guang.
Keywords: DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics
Issue Date: 1997
Abstract: This research project contains three main aspects. First, an observer-based controller is considered for the flexible-joint robot including actuator dynamics, namely, the DC motor. Assuming the measurable signals are link and motor positions of the robot, a nonlinear observer is proposed which estimates all state variables asymptotically. Based on this observer, a dynamic output feedback controller is presented for the flexible-joint robot including motor dynamics, which guarantees asymptotic tracking of a desired trajectory. Simulation results are provided to illustrate the performance of the observer and controller.
URI: http://hdl.handle.net/10356/19597
Rights: NANYANG TECHNOLOGICAL UNIVERSITY
Fulltext Permission: restricted
Fulltext Availability: With Fulltext
Appears in Collections:EEE Theses

Files in This Item:
File Description SizeFormat 
EEE_THESES_143.pdf
  Restricted Access
7.68 MBAdobe PDFView/Open

Google ScholarTM

Check

Items in DR-NTU are protected by copyright, with all rights reserved, unless otherwise indicated.