Comparison of robotic positional control strategies

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dc.contributor.authorEucker, David A.en
dc.contributor.departmentElectrical Engineeringen
dc.date.accessioned2021-10-26T20:10:27Zen
dc.date.available2021-10-26T20:10:27Zen
dc.date.issued1987en
dc.description.abstractA comparison of robotic positional control strategies was done using computer simulation on a three degree-of-freedom manipulator. The manipulator was subjected to different payloads, trajectories at different velocities, varying different controller sample rates and different motor saturation levels. The control schemes studied were the proportional plus integral plus derivative (PID) method, computed torque method, resolved motion rate control (RMRC) method and the model-referenced adaptive control (MRAC) method. These schemes were representative of three categories of robotic positional controllers - Joint Space control, Cartesian Space control and adaptive control. The criteria used for comparison were the maximum trajectory error, the maximum electrical controller.en
dc.description.degreeM.S.en
dc.format.extentv, 117 leavesen
dc.format.mimetypeapplication/pdfen
dc.identifier.urihttp://hdl.handle.net/10919/106175en
dc.language.isoenen
dc.publisherVirginia Polytechnic Institute and State Universityen
dc.relation.isformatofOCLC# 16782011en
dc.rightsIn Copyrighten
dc.rights.urihttp://rightsstatements.org/vocab/InC/1.0/en
dc.subject.lccLD5655.V855 1987.E83en
dc.subject.lcshAssembly-line methodsen
dc.subject.lcshRoboticsen
dc.subject.lcshRobots, Industrialen
dc.titleComparison of robotic positional control strategiesen
dc.typeThesisen
dc.type.dcmitypeTexten
thesis.degree.disciplineElectrical Engineeringen
thesis.degree.grantorVirginia Polytechnic Institute and State Universityen
thesis.degree.levelmastersen
thesis.degree.nameM.S.en

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