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Cartesian path control of a two-degree-of-freedom robot manipulator
| Content Provider | NASA Technical Reports Server (NTRS) |
|---|---|
| Author | Pooran, Farhad J. Nguyen, Charles C. |
| Copyright Year | 1988 |
| Description | The problem of cartesian trajectory control of a closed-kinematic chain mechanism robot manipulator with possible space station applications is considered. The study was performed by both computer simulation and experimentation for tracking of three different paths: a straight line, a sinusoid and a circle. Linearization and pole placement methods are employed to design controller gains. Results show that the controllers are robust and there are good agreements between simulation and experimentation. Excellent tracking quality and small overshoots are also evident. |
| File Size | 666059 |
| Page Count | 23 |
| File Format | |
| Alternate Webpage(s) | http://archive.org/details/NASA_NTRS_Archive_19880004526 |
| Archival Resource Key | ark:/13960/t7zm07j34 |
| Language | English |
| Publisher Date | 1988-01-01 |
| Access Restriction | Open |
| Subject Keyword | Cybernetics Trajectory Control Robot Control Manipulators Mathematical Models Trajectories Computerized Simulation Control Theory Active Control Space Stations Robots Cartesian Coordinates Ntrs Nasa Technical Reports Server (ntrs) Nasa Technical Reports Server Aerodynamics Aircraft Aerospace Engineering Aerospace Aeronautic Space Science |
| Content Type | Text |
| Resource Type | Technical Report |
