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Servocompensation of disturbances in robotic systems. (English) Zbl 0652.93041

Certain specifications of robot manipulators cannot be maintained at external disturbances, altering the behaviour of the mechanical system. The type of the disturbances are additive signals, satisfying a linear differential equation with constant coefficients. The linear disturbances can be asymptotically rejected under certain criteria satisfied by the linear plant, but they are not applicable when extremely nonlinear manipulators are considered.
In the present paper it is shown that the linear disturbances can be asymptotically rejected by employing a standard linear servocompensator. A recursive Volterra series for planar manipulators is derived in order to verify that the error tends to zero as \(t\to \infty\). Digital computer simulations are realized on a two-link planar robot to demonstrate qualitatively and quantitatively the merit of the linear compensator in open-chain robotic systems.
This paper is a natural application of Volterra series in nonlinear system theory.
Reviewer: C.Mladenova

MSC:

93C95 Application models in control theory
70Q05 Control of mechanical systems
93C10 Nonlinear systems in control theory
70B15 Kinematics of mechanisms and robots
93D20 Asymptotic stability in control theory
93C15 Control/observation systems governed by ordinary differential equations
41A58 Series expansions (e.g., Taylor, Lidstone series, but not Fourier series)
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