DESIGN OF TACTICAL AND EXECUTIVE LEVEL OF REDUNDANT ROBOT CONTROL VIADISTRIBUTED POSITIONING

Authors
POTKONJAK V DJORDJEVIC G MILOSAVLJEVIC C ANTIC D
Citation
V. Potkonjak et al., DESIGN OF TACTICAL AND EXECUTIVE LEVEL OF REDUNDANT ROBOT CONTROL VIADISTRIBUTED POSITIONING, International journal of robotics & automation, 11(3), 1996, pp. 102-110
Citations number
16
Categorie Soggetti
Robotics & Automatic Control
Journal title
International journal of robotics & automation → ACNP
ISSN journal
08268185
Volume
11
Issue
3
Year of publication
1996
Pages
102 - 110
Database
ISI
SICI code
0826-8185(1996)11:3<102:DOTAEL>2.0.ZU;2-E
Abstract
This paper considers the problem of large robots performing highly acc elerated motion. The problem is solved by engaging suitable redundancy in order to improve the kinematic and dynamic characteristics. The in verse kinematics problem of the redundant robot and the tactical level of control has been resolved by distributed positioning (DP) concept. The executive level of control has been solved by using the PI type o f variable structure control algorithm. Simulation results prove the e fficiency of this concept.