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Numerical complexity of decentralized dynamic control laws for manipulator systems

Published online by Cambridge University Press:  09 March 2009

M. Vukobratović  and
N. Kirćanski
M. Vukobratović
Affiliation:
Institute Mihailo Pupin, Belgrade (Yugoslavia)
N. Kirćanski
Affiliation:
Institute Mihailo Pupin, Belgrade (Yugoslavia)
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Abstract

SUMMARY

The numerical complexity of robot dynamic models, inverse control structures and decentralized control laws is analyzed in a systematic fashion. Dynamic models of actuators (DC motors and hydraulic cylinders) are taken into account, too. The exact number of floating-point multiplications and additions/subtractions for an n−link manipulator is determined. The results are applied to several typical industrial manipulators. Measuring of computation time for various control structures is realized on an up-to-date 16-bit microcomputer, widely used in robot controllers. Thereby, the real-time applicability and effectively the “price” of different control laws are estimated.

Type
Articles
Information
Robotica , Volume 4 , Issue 4 , October 1986 , pp. 255 - 262
Copyright
Copyright © Cambridge University Press 1986

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