RESEARCH PAPERS: Papers on Control of Robotic Devices

One Engineering Concept of Dynamic Control of Manipulators

[+] Author and Article Information
M. Vukobratović, D. Stokić

Institut “M. Pupin,” Beograd, Yugoslavia

J. Dyn. Sys., Meas., Control 103(2), 108-118 (Jun 01, 1981) (11 pages) doi:10.1115/1.3139650 History: Received January 25, 1980; Online July 21, 2009


In the stage of nominal regimes, programmed (nominal) control is synthesized taking into account coupling among degrees of freedom under nominal conditions. Thus, in the stage of perturbed regimes the influence of coupling among the d.o.f. is reduced if practical stability of the system in the finite regions of the state space is under consideration. In this paper, global control in the form of force feedback is introduced. The problem of global system stability is also considered. In order to discuss different aspects of the application of decentralized and global control to industrial manipulators, numerical examples are presented.

Copyright © 1981 by ASME
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