19 October 1987 Realization Of A Decentralized Control For A Robot
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In this paper the synthesis of a decentralized control for a robotic system is performed. In this control the robotic system is considered like a set of independent subsystems each corresponding to a separate joint and coupling among them is neglected. We have developed a computer program for obtaining a local controller that stabilizes the local subsystem. This local controller is based in the pole placement dynamic controller. For this, we have obtained the mathematical model of each actuator of robot in the state domain, taking into account the inertia forces of the mechanical part around the i-th joint.
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J. C. Fraile Marinero, J. C. Fraile Marinero, R. Grossi Calleja, R. Grossi Calleja, J. R. Peran Gonzalez, J. R. Peran Gonzalez, } "Realization Of A Decentralized Control For A Robot", Proc. SPIE 0853, IECON '87: Industrial Applications of Control and Simulation, (19 October 1987); doi: 10.1117/12.942940; https://doi.org/10.1117/12.942940

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