Automatic Control of Robot Motion

摘要

The feasibility of controlling the three link rectangular and revolute robots with an adaptive computer simulation model, using a curve following technique, is investigated. Both configurations are tested for different load conditions, for rejection of random disturbances and for robustness in the case of servo motor parameter variations. The interactive nonlinear dynamics of the revolute robot, such as coupling inertia, actuator dynamics, centripetal and coriolis forces, are also investigated. First a gravity-free environment is assumed and then the robot arms are tested under gravitational torques.