Position control for constrained Robots

dc.creator	Koumboulis, F. N.	en
dc.date.accessioned	2015-11-23T10:36:06Z
dc.date.available	2015-11-23T10:36:06Z
dc.date.issued	1999
dc.identifier.isbn	9608052122
dc.identifier.uri	http://hdl.handle.net/11615/29792
dc.description.abstract	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.	en
dc.source.uri	http://www.scopus.com/inward/record.url?eid=2-s2.0-4944242977&partnerID=40&md5=bf3bfb67d8da3a4fcf1ebfb2d06166d8
dc.subject	Command Following	en
dc.subject	Input-Output Decoupling	en
dc.subject	Multivariable Control	en
dc.subject	Nonlinear Control	en
dc.subject	PD controllers	en
dc.subject	Position Control	en
dc.subject	Robotic Systems	en
dc.subject	Lagrange multipliers	en
dc.subject	Mathematical models	en
dc.subject	Multivariable control systems	en
dc.subject	Nonlinear control systems	en
dc.subject	Problem solving	en
dc.subject	Robots	en
dc.subject	Set theory	en
dc.subject	Theorem proving	en
dc.subject	Proportional plus Derivative (PD) controllers	en
dc.title	Position control for constrained Robots	en
dc.type	journalArticle	en

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