Affiliation:
1. UGRA/DPT CEN-FAR BP No. 6 92260 Fontenay aux Roses, France
2. IUT Dept. G.E. University Paris X 91011 Evry, France
Abstract
For automatic derivation of control algorithms, the decoupling method is applied to Euler-Lagrange's formal ism. Explicit expressions to derive directly from the Lagrangian the nonlinear control laws of mechanisms and of a dynamically driven robot are given. Finally, a simple two-degree-of-freedom system driven by DC electric motors is used to illustrate the flexibility of the proposed approach over the other design methods.
Subject
Applied Mathematics,Artificial Intelligence,Electrical and Electronic Engineering,Mechanical Engineering,Modelling and Simulation,Software
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