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.
Position Control for Non-linear, Multiple-Link Robots
NASA Tech Briefs ; 11 , 3
1987-03-01
Miscellaneous
No indication
English
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