Accession Number:

ADA191012

Title:

Automatic Control of Robot Motion.

Descriptive Note:

Master's thesis,

Corporate Author:

NAVAL POSTGRADUATE SCHOOL MONTEREY CA

Personal Author(s):

• Kalogiros, George P.

Report Date:

1987-12-01

Pagination or Media Count:

261.0

Abstract:

The feasibility of controlling the three link rectangular and revolute robots with an adaptive computer simulation model, using a curve following technique, is investigated. Both configurations are tested for different load conditions, for rejection of random disturbances and for robustness in the case of servo motor parameter variations. The interactive nonlinear dynamics of the revolute robot, such as coupling inertia, actuator dynamics, centripetal and coriolis forces, are also investigated. First a gravity-free environment is assumed and then the robot arms are tested under gravitational torques. Keywords Theses, Computer programs, Mathematical models.

Descriptors:

• *COMPUTERIZED SIMULATION
• *ROBOTS
• *ADAPTIVE CONTROL SYSTEMS
• ACTUATORS
• AUTOMATIC
• COMPUTER PROGRAMS
• CONTROL
• COUPLING(INTERACTION)
• DYNAMICS
• INERTIA
• INTERACTIONS
• LOADS(FORCES)
• MATHEMATICAL MODELS
• MOTION
• NONLINEAR SYSTEMS
• PARAMETERS
• SERVOMOTORS
• THESES
• VARIATIONS
• CONFIGURATIONS
• CURVATURE
• EQUATIONS OF MOTION

Subject Categories:

• Cybernetics

Distribution Statement:

APPROVED FOR PUBLIC RELEASE