Four nonlinear control schemes equivalent. Report discusses theory of nonlinear feedback control of robot manipulator, emphasis on control schemes making manipulator input and output behave like decoupled linear system. Approach, called "exact external linearization," contributes efforts to control end-effector trajectories, positions, and orientations.
Linearization of Robot Manipulators
NASA Tech Briefs ; 11 , 8
1987-09-01
Miscellaneous
No indication
English
NTIS | 1975
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