Control of a robotic manipulator- A model following approach

Mukherjee, S; Sengupta, S N

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Please use this identifier to cite or link to this item: http://nopr.niscpr.res.in/handle/123456789/29937

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DC Field	Value	Language
dc.contributor.author	Mukherjee, S	-
dc.contributor.author	Sengupta, S N	-
dc.date.accessioned	2014-11-13T06:01:28Z	-
dc.date.available	2014-11-13T06:01:28Z	-
dc.date.issued	1994-04	-
dc.identifier.issn	0975-1017 (Online); 0971-4588 (Print)	-
dc.identifier.uri	http://hdl.handle.net/123456789/29937	-
dc.description	70-76	en_US
dc.description.abstract	A model following approach has been used to produce a consistently good dynamic performance in a manipulator, whose effectiveness is illustrated through the simulated responses of a two degree of freedom plant with variable inertia and fluctuating payload. The model is provided with the reference input and produces the "ideal response" that sets the standard to be followed by the plant which runs totally on the basis of the differences of its states from those of the model. More eruditely, the plant is constrained by the model to emulate its states. A higher order plant was intentionally made to follow a lower order model to test the effectiveness of the controller. Satisfactory simulation results assure the usefulness of the scheme even under considerable payload fluctuations (±10), and a 1:8 range of inertia variation that follows a quadratic law. This system is found to have a note worthy performance robustness despite its simple and cost effective hardware implementation.	en_US
dc.language.iso	en_US	en_US
dc.publisher	NISCAIR-CSIR, India	en_US
dc.rights	CC Attribution-Noncommercial-No Derivative Works 2.5 India	en_US
dc.source	IJEMS Vol.01(2) [April 1994]	en_US
dc.title	Control of a robotic manipulator- A model following approach	en_US
dc.type	Article	en_US
Appears in Collections:	IJEMS Vol.01(2) [April 1994]

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