The 3D Arm Modeling and Position Control

DOI

10.2991/icmeim-17.2017.61How to use a DOI?

Keywords

Nonlinear, Parameter-dependent, Position Control, Simmechanics

Abstract

We employ two approaches to model a 3D arm. In nonlinear, a parameter-dependent structure has been derived. Due to an existing inverse inertia term in the motion equation, a proof of nonsingular inertia is given. In linear, the Simmechanic Visual plot is obtained. By implementing a position control law, both of them can reach the same desired position.

Copyright

© 2017, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Wei-fang Wang
AU  - Pao-Hwa Yang
AU  - Shiu-Ping Wang
AU  - Lan Xu
PY  - 2017/02
DA  - 2017/02
TI  - The 3D Arm Modeling and Position Control
BT  - Proceedings of the 2017 International Conference on Manufacturing Engineering and Intelligent Materials (ICMEIM 2017)
PB  - Atlantis Press
SP  - 361
EP  - 368
SN  - 2352-5401
UR  - https://doi.org/10.2991/icmeim-17.2017.61
DO  - 10.2991/icmeim-17.2017.61
ID  - Wang2017/02
ER  -