Modelling and control of a Puma-like manipulator |
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| Affiliation: | Department of Electrical and Electronic Engineering University of Pretoria, Pretoria 0002, South Africa;Department of Mathematics and Statistics, The Rand Afrikaans University P.O. Box 524, Auckland Park 2006, Johannesburg, South Africa |
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| Abstract: | This work deals with the modelling and control of a Puma-like manipulator. A control problem concerning the motion of the manipulator's end-effector in the half space {(x, y, z) : z ⪢ H}, H ⪢ 0, is dealt with. The problem is solved by first using an inverse dynamics transformation, and then by minimizing a penalty function. |
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