MANIPULATION
Decoupled control of robots via asymptotic regulators
Miomir Vukobratović, N. Kirćanski
- Year
- 1983
- Citations
- 15
Abstract
A procedure for industrial robot control synthesis based on asymptotic regulator properties is presented. It involves computer linearization of the dynamic manipulator model along a given nominal trajectory and an efficient algorithm for synthesis of a robust linear regulator ensuring the decoupled control of the system.
Keywords
Control theory (sociology)RegulatorTrajectoryLinearizationLinear regulatorControl engineeringRobotFeedback linearizationControl (management)Robust control
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