Logical Control Theory Applied to Mechanical Arms

Abstract

A new control algorithm based upon Logical Control Theory is developed for mechanical manipulators. The controller uses discrete tesselations of state space and a finite set of fixed torques to regulate non-rehearsed movements in real time. Varying effective inertia, coupling between degrees of freedom, and fictional, gravitational and Coriolis forces are readily handled. A logical controller was implemented on a mini-computer for the MIT Scheinman Vicarm. The controller's performance compares favorably with that of controllers designed according to existing methodologies as used, for example, in the control of present day industrial manipulators.