DYNAMICS AND CONTROL STRATEGIES FOR A ROBOT MANIPULATOR

Abstract

A robot is a reprogrammable and multifunctional manipulator deviced for transport of materials, parts, tools or specialized systems with varied and programmed movements, with the arm of carrying out varied tasks. The basis for robot control is the relationship between the Cartesian coordinates of the end-effector and the robot joint coordinates. Once this relationship_ has been established then the dynamics problem deals with the mathematical formulations of the equations of robot arm motion; namely the Lagrange-Euler and the Newton-Euler formulation. The first yields the general motion equations for a manipulator while the latter gives a set of recursive equations and is more efficient. These dynamic equations (models) determine the control laws or strategies to achieve the desired system response or performance. Three major aproaches to robot control are discussed: motion controls, force feedback, and controlusing only joint position measurements (observer design)