Proceedings Vol. 12 (2006)
ENGINEERING MECHANICS 2006
May 15 – 18, 2006, Svratka, Czech Republic
Copyright © 2006 Institute of Theoretical and Applied Mechanics, Academy of Sciences of the Czech Republic, Prague
ISSN 1805-8248 (printed)
ISSN 1805-8256 (electronic)
list of papers scientific commitee
pages 440 - +6p., full text
In this contribution will be compared three methods of PD control of robots. The first is without gravity compensation, the second uses a constant gravity compensation and the last of them uses the full gravity compensation.. There are studied the complicacy of the design, the accuracy of control and the possibility of implementation in any control system with respecting the computing complicacy. The stability feedback is verified by Lyapunov theory of stability.
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All papers were reviewed by members of the scientific committee.