Position control for constrained Robots
AuthorKoumboulis, F. N.
The problem of position control, for robot manipulators constrained to carry a load, is studied. Using a nonlinear P-D feedback law the design requirements of command matching and command following are proved to be always satisfied for constrained robots. Particular feedback laws solving the above problems are determined in the form of analytic expressions of the mechanical characteristics of the manipulator and the load.
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