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Robust motion tracking control of robotic arms based on the generalized energy accumulation principle
| Content Provider | NASA Technical Reports Server (NTRS) |
|---|---|
| Author | Homaifar, A. Anderson, J. N. Lai, H. Y. Song, Y. D. |
| Copyright Year | 1992 |
| Description | Consider a rigid-link robot with the dynamic model tau = H(q;p)q''+C(q,q',p)q'+G(q;p)+Nu(t) where Nu(.) denotes a bounded external disturbance. The objective addressed herein is to find a control strategy that exhibits the following features: (1) simple to implement, (2) easy to code for program, and (3) robust to possible time-varying uncertainties. |
| File Size | 613579 |
| Page Count | 8 |
| File Format | |
| Alternate Webpage(s) | http://archive.org/details/NASA_NTRS_Archive_19930010274 |
| Archival Resource Key | ark:/13960/t6k120j7c |
| Language | English |
| Publisher Date | 1992-12-12 |
| Access Restriction | Open |
| Subject Keyword | Mechanical Engineering Controllers Dynamic Control Robot Arms Robot Control Control Systems Design Manipulators Dynamic Models Robot Dynamics 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 |
