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Tham khảo tài liệu 'crc press - robotics and automation handbook episode 2 part 1', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 26 Phillips C.L. and Nagle H.T. Digital Control System Analysis and Design Prentice Hall Englewood Cliffs NJ 1995. 27 Van Beek B. and De Jager B. RRR-robot design Basic outlines servo sizing and control in Proc. IEEEInt. Conf. Control Appl. Hartford U.S.A. 1997 36. 28 Van Beek B. and De Jager B. An experimental facility for nonlinear robot control in Proc. IEEE Int. Conf. Control Appl. Hawaii U.S.A. 1999 668. 29 Kostic D. Hensen R. De Jager B. and Steinbuch M. Modeling and identification of an RRR-robot in Proc. IEEE Conf. Dec. Control Orlando FL 2001 1144. 30 Kostic D. Hensen R. De Jager B. and Steinbuch M. Closed-form kinematic and dynamic models of an industrial-like RRR robot in Proc. IEEE Conf. Rob. Autom. Washington D.C. 2002 1309. 31 Kostic D. De Jager B. and Steinbuch M. Experimentally supported control design for a direct drive robot in Proc. IEEE Int. Conf. Control Appl. Glasgow Scotland 2002 186. 32 Kostic D. De Jager B. and Steinbuch M. Robust attenuation of direct-drive robot-tip vibrations in Proc. IEEE RSJ Int. Conf. Intellig. Robots Syst. Lausanne Switzerland 2002 2206. Copyright 2005 by CRC Press LLC 15 Motion Control by Linear Feedback Methods Dragan Kostic Technische Universiteit Eindhoven Bram de Jager Technische Universiteit Eindhoven Maarten Steinbuch Technische Universiteit Eindhoven 15.1 Introduction 15.2 Decentralized Conventional Feedback Control 15.3 Linear Feedback Control Applied with Nonlinear Model-Based Dynamic Compensators Computed-Torque Control Design Control Designs with Feedback Linearization 15.4 Case-Study Motion Control of the RRR Direct-Drive Manipulator Nominal Plant Model Conventional Feedback Control Design -Synthesis Feedback Control Design Experimental Evaluation 15.5 Conclusions 15.1 Introduction This chapter deals with the robot motion control problem whose objective is accurate execution of a reference robot trajectory. This trajectory is executed by the robot end-effector in the operational space i.e. in the space
