Constrained accelerated-feedback control for robot motion
β Scribed by Jing Xiao; Richard A. Volz
- Publisher
- Elsevier Science
- Year
- 1996
- Tongue
- English
- Weight
- 786 KB
- Volume
- 12
- Category
- Article
- ISSN
- 0736-5845
No coin nor oath required. For personal study only.
π SIMILAR VOLUMES
This paper addresses the problem of controller design for constrained robots. A control algorithm, described as a combination of the direct adaptive and the variable structure method, is presented for the trajectory tracking of an end-effecter on a constrained surface with specified constraint force
A global dynamic output feedback tracking controller for robots with elastic joints is presented. The controller only requires the measurements of position and speed of each link, and guarantees the tracking of any bounded reference trajectory. The dynamic part of the proposed controller consists of