Model-based manipulator control and the computational cost

S. Soumya, K. R. Guruprasad

Research output: Contribution to journalArticlepeer-review

Abstract

This paper addresses the computational cost associated with the manipulator control. Manipulator dynamics are known to be computationally intense owing to its coupled nonlinear nature. In this work we analyze the computational cost associated with a traditional nonlinear model-based control scheme of a manipulator with that of the model-based distributed control scheme. We restrict our focus on planar serial link manipulators as the coupling effects are maximum in such configurations. The computational cost associated with the model-based control and its distributed counterpart are compared as the degrees-of-freedom of the manipulator increases from two to six.

Original languageEnglish
Pages (from-to)319-326
Number of pages8
JournalJournal of Advanced Research in Dynamical and Control Systems
Volume10
Issue number12
Publication statusPublished - 01-01-2018
Externally publishedYes

All Science Journal Classification (ASJC) codes

  • Computer Science(all)
  • Engineering(all)

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