MANIPULATION
Controlled Chain of Pendulums
G. Bojadziev
- Year
- 1989
- Citations
- 2
Abstract
A robotic manipulator with n links working in a vertical plane is modelled mathematically as a chain of pendulums linked together by rotational joints subjected to control torque. A control of motion program is designed so that the chain avoids an undesirable region.
Keywords
Chain (unit)Control theory (sociology)TorqueRotation around a fixed axisPlane (geometry)PhysicsMotion (physics)Control engineeringControl (management)Computer science
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