Hostname: page-component-6898cfcb55-th4rj Total loading time: 0 Render date: 2026-11-11T11:01:23.793Z Has data issue: false hasContentIssue false
  • English
  • Français

A Teaching Robot for Demonstrating Robot Control Strategies*

Published online by Cambridge University Press:  09 March 2009

D. Wang,
J.P. Huissoon and
K. Luscott
Get accessRights & Permissions [Opens in a new window]

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.

Keywords

Teaching robotControl strategiesInverse dynamicsStudents.

Information

Type
Research Article
Information
Robotica , Volume 11 , Issue 5 , September 1993, pp. 393 - 401
Copyright
Copyright © Cambridge University Press 1993

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

Article purchase

Temporarily unavailable

References

1.Huissoon, J.P. and Wang, D., “On the design of a direct drive 5-bar-linkage manipulator” Robotica 9, 1991, Part 4, 441–446 (1991).Google Scholar
2.Asada, H. and Youcef-Toumi, K.,“Analysis and Design of a Direct-Drive Arm with a Five-Bar-Link Parallel Drive Mechanism” ASME J. Dynamic Systems, Measurement and Control 106, No. 3, 225–230 (09, 1984).CrossRefGoogle Scholar
3.Kazerooni, H., “Statically balanced direct drive manipulator” Robotica 7, Part 2, 143–149 (1989).Google Scholar
4.Spong, M. and Vidyasagar, M., Robot Dynamics and Control (John Wiley & Sons, New York, 1989).Google Scholar
5.Anderson, R.J., “Dynamic Damping Control: Implementation Issues and Simulation Results” Proc. IEEE Conf. on Robotics and Automation,Cincinnati, vol. 1, (1990). pp. 68–77.Google Scholar
6.Slotine, J.J. and Li, W., Applied Nonlinear Control (Prentice Hall., New Jersey, 1991).Google Scholar