A real-time system for robot manipulator inverse dynamics computation

Machado, J. A. Tenreiro; Carvalho, J. L. Martins de; Matos, Joaquim; Costa, Alexandra

doi:10.1016/0066-4138(88)90010-9

Search citation statements

Order By: Relevance

Paper Sections

Select...

Citation Types

Supporting

Mentioning

Contrasting

Year Published

1989

Publication Types

Select...

Article1

Other1

Relationship

Self Cite0

Independent2

Authors

Journals

Cited by 2 publications

References 13 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

Engineering design of a multirate nonlinear controller for robot manipulators

Machado

Carvalho

1989

J. Robotic Syst.

View full text Add to dashboard Cite

A new multirate nonlinear controller for robot manipulators is described. The al gorithm stems from the computed torque method, but has several modifications on its structure, resulting in a more robust controller.The main philosophy behind those improvements resides on a sound engineering and management of the system resources. Consequently, the use of multirate sampling, memory tables, and predictive action arises naturally from that methodology.The resulting controller is easy to tune using standard industrial engineering practice; moreover, by alleviating the computational burden its implementation is feasible with present day microprocessors.

show abstract