Control of industrial robots by means of microprocessors

Modelling and Control

“…The environment can be described as a potential function which adds an artificial force vector to the generalized forces. [51][52][53] 8.…”

Nonlinear path control in automated vehicle guidance

“…Since consists of only zero elements, the differential orders and must be nonzero. To determine the nonzero values for the subsystem , the differential operator can be recursively applied by (6) with the initial condition (7) as introduced in [13]. And hence, the differential order of the subsystem is determined by the following:…”

“…The state dependent abbreviations are (13) According to (10)-(12), the 2 1-matrix and 2 2-matrix evaluate to (14) and (15) The determinant of is (16) and its inverse is calculated to be (17) To complete the control law, the following matrixes are defined: (18) and (19) With respect to the universal formulation (20) the control algorithms are evaluated to (21) Since the elements of correspond to the elements of , the nominal values for the position coordinates and are determined, respectively, by and One can see that the dynamic forces exerted on the vehicle are characterized by a portion of of (20). Here with respect to (18) and (19), this portion is represented by the following abbreviations:…”

“…In the case of collision danger, the reaction obviously must be fast and with high precision, meaning an efficient control method is necessary. With respect to the mathematical vehicle model, the control system is based on the universally valid method of nonlinear decoupling and control [13], [14]. The sideslip angle represents an important state variable that cannot be easily measured.…”

Large planar maneuvers for articulated flexible manipulators

“…Actuator dynamics are briefly described and are included in the system equations to complete the dynamic model of the system [11] . Nonlinearities in the inertia matrix are localized using an appropriate transformation matrix and are linearized using a feedback linearization scheme [7,12,13]. A robust pole placement method [14] is then applied to obtain a well-conditioned output feedback controller so that closedloop eigenvalues are insensitive to system uncertainties or perturbations.…”