ON NONLINEAR DECOUPLING CONTROL OF MAGNETICALLY LEVITA TED ROBOT WRISTS

FANG Yiling, XU Qingyuan. ON NONLINEAR DECOUPLING CONTROL OF MAGNETICALLY LEVITA TED ROBOT WRISTS[J]. ROBOT, 1997, 19(2): 129-133.

Citation:

FANG Yiling, XU Qingyuan. ON NONLINEAR DECOUPLING CONTROL OF MAGNETICALLY LEVITA TED ROBOT WRISTS[J]. ROBOT, 1997, 19(2): 129-133.

Citation:

FANG Yiling, XU Qingyuan. ON NONLINEAR DECOUPLING CONTROL OF MAGNETICALLY LEVITA TED ROBOT WRISTS[J]. ROBOT, 1997, 19(2): 129-133.

Abstract

This paper analyses the control equation of robot wrist. The paper made simulation verification for S. Salcudeans research result on nonlinear observer (reference 2) and advanced a new decouple method and control scheme (Bang-Bang control).From the simulation curves we know Bang-Bang control is better than PD control in quick-response and precision.

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