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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