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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    Title :

    Position Control for Non-linear, Multiple-Link Robots


    Contributors:
    Seraji, H. (author) / Moya, M. M. (author)

    Published in:

    Publication date :

    1987-03-01



    Type of media :

    Miscellaneous


    Type of material :

    No indication


    Language :

    English


    Keywords :



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