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Frequency Domain Analysis of Robot Joint Dynamics

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Kinematic and Dynamic Issues in Sensor Based Control

Part of the book series: NATO ASI Series ((NATO ASI F,volume 57))

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Abstract

Despite the fact that a robot can be linearized and decoupled by suitable non-linear transformations, current industrial practice is independent joint control with fixed linear control laws. This is mainly due to the computational complexity and the lack of robustness results for such nonlinear schemes.

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References

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Author information

Authors and Affiliations

  1. Fraunhofer-Institut IITB, Karlsruhe, Germany

    Sebastian Engell & Andreas Kleiner

Authors
  1. Sebastian Engell
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  2. Andreas Kleiner
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Editor information

Editors and Affiliations

  1. Department of Electronic Engineering, University of Hull, HU6 7RX, Hull, UK

    Gaynor E. Taylor

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© 1990 Springer-Verlag Berlin Heidelberg

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Engell, S., Kleiner, A. (1990). Frequency Domain Analysis of Robot Joint Dynamics. In: Taylor, G.E. (eds) Kinematic and Dynamic Issues in Sensor Based Control. NATO ASI Series, vol 57. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-84012-8_11

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  • DOI: https://doi.org/10.1007/978-3-642-84012-8_11

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-84014-2

  • Online ISBN: 978-3-642-84012-8

  • eBook Packages: Springer Book Archive

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