CHAPTER SIX
APPLICATION TO THE ROBOTIC MANIPULATOR
Several key ideas concerning the solution of the servomechanism problem for the robotic manipulator system are presented in this chapter.
The first of the chapter contains a brief summary of the dynamic equations modeling the robotic manipulator. Next the overall structure for the control system is given. In order to effectively treat the
manipulator problem, discussion is given in regards to determining the dynamics which must be included in the internal model system as well as finding a stabilizing feedback law. The controller design is based
primarily on the results of Chapter Five
The final portion of this chapter deals with compensating for structural flexibilities in the manipulator system. It is shown that the proposed control algorithm can correct for end-effector deviations caused by slowly-varying external forces provided that the forces can be measured.
Manipulator Dynamics
In this section we discuss the dynamic equations modeling a rigidlink serial manipulator having revolute joints. A more thorough
treatment of this topic can be found in Thomas and Tesar [281.
Using Lagrange's equation of motion, it is possible to obtain the following dynamic representation for the manipulator.