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Combined Torque and Velocity Control of a Redundant Robot System InTech
Damir Omrcen; Leon Zlajpah; Bojan Nemec.
The use of the robots in the real world mostly depends on the development of a autonomous robotic systems that integrate mobility and manipulability. This chapter has presented a new approach to the robot control. The control is called combined control since it combines (integrates) two different types of robot control, i.e. the torque and the velocity control in a single robot system. Later on the mathematical analysis of the proposed combined control has been shown. Verification has been done on a simulated and a real system composed of a velocity controlled mobile platform and a torque controlled manipulator. The results show good tracking of the desired trajectory in the task space and in the null space depending on the controller gains. Controller...
Tipo: 3 Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/combined_torque_and_velocity_control_of_a_redundant_robot_system
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