The Design of Manipulator System With Pole Placement Approach

The manipulator system is a sequence of mechanisms jointed with each other. It is difficult to establish the dynamic state equation of such a mechanism system. By means of the bond graph method, it is easy to derive the state equation of a mechanism, then one have the transfer function matrix. According to the combined situation of mechanisms for manipulator, whose transfer function matrix may be obtained. Based on the modern control theory, one will find that in a controllable system, it is possible to place the poles anywhere we wish in the complex plane. In this paper one will develop a new procedure concerning system pole assignment within desired places by using two controllers. An example is illustrated.