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dc.creatorKoumboulis, F. N.en
dc.description.abstractThe 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.en
dc.subjectCommand Followingen
dc.subjectInput-Output Decouplingen
dc.subjectMultivariable Controlen
dc.subjectNonlinear Controlen
dc.subjectPD controllersen
dc.subjectPosition Controlen
dc.subjectRobotic Systemsen
dc.subjectLagrange multipliersen
dc.subjectMathematical modelsen
dc.subjectMultivariable control systemsen
dc.subjectNonlinear control systemsen
dc.subjectProblem solvingen
dc.subjectSet theoryen
dc.subjectTheorem provingen
dc.subjectProportional plus Derivative (PD) controllersen
dc.titlePosition control for constrained Robotsen

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