Several approaches to complicated control problem examined. Report surveys methods for controlling motion of robot manipulators. Applies to coupled, highly nonlinear multiple-link robots. Presents adaptive control technique based on discrete linear model of robot arm, obtained by linearizing nonlinear dynamical equations about nominal trajectory. Parameters of model calculated with adaptive parameter-identification algorithm. Based on system model, optimal control input computed using position and velocity feedback.


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    Titel :

    Position Control for Non-linear, Multiple-Link Robots


    Beteiligte:
    Seraji, H. (Autor:in) / Moya, M. M. (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    01.03.1987



    Medientyp :

    Sonstige


    Format :

    Keine Angabe


    Sprache :

    Englisch


    Schlagwörter :



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