PULSE-WIDTH MODULATED CONTROL OF ROBOTIC MANIPULATORS

Authors
SIRARAMIREZ H ZRIBI M AHMAD S
Citation
H. Siraramirez et al., PULSE-WIDTH MODULATED CONTROL OF ROBOTIC MANIPULATORS, International Journal of Systems Science, 24(8), 1993, pp. 1423-1437
Citations number
16
Categorie Soggetti
System Science","Computer Applications & Cybernetics","Operatione Research & Management Science
Journal title
International Journal of Systems Science → ACNP
ISSN journal
00207721
Volume
24
Issue
8
Year of publication
1993
Pages
1423 - 1437
Database
ISI
SICI code
0020-7721(1993)24:8<1423:PMCORM>2.0.ZU;2-U
Abstract
We propose a practical discontinuous feedback control scheme for the r egulation of joint positions of robotic manipulators. A robust on off switching control strategy based on a pulse-width-modulation (PWM) fee dback scheme is proposed for the joint torques. The discontinuous PWM controller design is carried out on the basis of a suitable controller designed for an average model which is of continuous nature. Simulati ons of the closed-loop performance of the proposed control scheme are presented for a two-link robotic manipulator.