A Teaching Robot for Demonstrating Robot Control Strategies

It is standard now in undergraduate and graduate courses in robotics to teach the basic concepts of position control design strategies. Due to the geared motors inherent in most educational and industrial manipulators, sophisticated control design strategies such as the inverse dynamics technique ca...

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Bibliographic Details
Published in:Robotica 1993-09, Vol.11 (5), p.393-401
Main Authors: Wang, D., Huissoon, J.P., Luscott, K.
Format: Article
Language:English
Subjects:
Applied sciences
Computer science
control theory
systems
Control strategies
Control theory. Systems
Exact sciences and technology
Inverse dynamics
Robotics
Students
Teaching robot
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Description
Summary:It is standard now in undergraduate and graduate courses in robotics to teach the basic concepts of position control design strategies. Due to the geared motors inherent in most educational and industrial manipulators, sophisticated control design strategies such as the inverse dynamics technique cannot be easily demonstrated in a laboratory setting. A direct drive 5-bar-linkage manipulator with reduced motor torque requirements is proposed in this paper for such a purpose. The manipulator dynamics are easily understood by undergraduates and an inverse dynamics control strategy is suggested which can be easily designed by students at the undergraduate level.
ISSN:0263-5747
1469-8668
DOI:10.1017/S0263574700016945