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Inertial-space disturbance rejection for robotic manipulators
| Content Provider | NASA Technical Reports Server (NTRS) |
|---|---|
| Author | Holt, Kevin |
| Copyright Year | 1992 |
| Description | The disturbance rejection control problem for a 6-DOF (degree of freedom) PUMA manipulator mounted on a 3-DOF platform is investigated. A control algorithm is designed to track the desired position and attitude of the end-effector in inertial space, subject to unknown disturbances in the platform axes. Conditions for the stability of the closed-loop system are derived. The performance of the controller is compared for step, sinusoidal, and random disturbances in the platform rotational axis and in the neighborhood of kinematic singularities. |
| File Size | 3087353 |
| Page Count | 112 |
| File Format | |
| Alternate Webpage(s) | http://archive.org/details/NASA_NTRS_Archive_19930010172 |
| Archival Resource Key | ark:/13960/t74v1hr9c |
| Language | English |
| Publisher Date | 1992-11-01 |
| Access Restriction | Open |
| Subject Keyword | Cybernetics Controllers Robot Arms Inertial Reference Systems Control Systems Design Manipulators Singularity Mathematics End Effectors Space Platforms Feedback Control Robotics Tracking Position 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 |