By Aleksandar Lazinica

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Pp. , ISBN: 978-0824706715, New York. G. (1964). Observing the state ov a linear system, IEEE Transactions on Military Electronics, pp. 74-80. Lunze, J. (2006). -P. (2000). Parallel Robots, Kluwer Academic Publishers, Springer, ISBN: 9781402041327, Netherlands. S. (1994), A mathematical introduction to robotic manipulation. CRC Press LLC, ISBN: 978-0849379819, USA. Nakamura, Y. (1991). , ISBN: 978-0201151985. ; Siciliano, B. (2001). Modelling and Control of Robot Manipulators, Springer, ISBN: 978-1852332211, Berlin.

8: Map of poles. Left: Mass is varied, right: Variation of delay. Green indicates that the real value is larger then that used for controller design. The red dot marks the location in case of no variation. Since the factors kTel and k v are linearly scaled the plots reveal the sensitivity to parameter variation. The actual damping of the outer loop is affected heavily by parameter mismatch. The step response in fig. 9 illustrates the performance loss. Errors in the delay are again more critical.

The rotations refer to the rotation axes of the {F2} CS instead of the fixed {F1} CS. In other words, each rotation is carried out with respect to an axis whose position depends on the previous rotation, as shown in Fig. 5. Zˆ F' 2 Zˆ F 1 Zˆ F' '2 Zˆ F' '2 YˆF'''2 Zˆ F' 2 YˆF''2 YˆF '2 YˆF '2 Zˆ F' '2' YˆF''2 YˆF 1 Xˆ F 1 Xˆ F' 2 Xˆ F''2 Xˆ F' 2 Xˆ F'''2 Xˆ F' ' 2 Fig. 5. Representation of the rotations in terms of the ZYX Euler angles In order to find the rotation matrix F1 R F 2 from the {F1} CS to the {F2} CS, we introduce indirect {F2’} and {F2”} CSs.

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