Please use this identifier to cite or link to this item: https://idr.nitk.ac.in/jspui/handle/123456789/12055
Title: Model-based manipulator control and the computational cost
Authors: Soumya, S.
Guruprasad, K.R.
Issue Date: 2018
Citation: Journal of Advanced Research in Dynamical and Control Systems, 2018, Vol.10, 12, pp.319-326
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. 2018, Institute of Advanced Scientific Research, Inc. All rights reserved.
URI: http://idr.nitk.ac.in/jspui/handle/123456789/12055
Appears in Collections:1. Journal Articles

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