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Control of Robot Manipulators

In: Geometric Algebra Applications Vol. II

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  • Eduardo Bayro-Corrochano

    (CINVESTAV, Electrical Engineering and Computer Science Department)

Abstract

In this chapter, we present the localized control policy which is possible due to the computing of the local dynamic model at each robot joint computed using the recursive Newton–Euler algorithm. We compute the local Hamiltonians at each joint and derive their localized controllers as well. In the experimental part, we compare the performance of PD, Bang–Bang, and sliding mode controllers.

Suggested Citation

  • Eduardo Bayro-Corrochano, 2020. "Control of Robot Manipulators," Springer Books, in: Geometric Algebra Applications Vol. II, chapter 0, pages 361-377, Springer.
    • Handle: RePEc:spr:sprchp:978-3-030-34978-3_12
    DOI: 10.1007/978-3-030-34978-3_12
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