Loading...
Please wait, while we are loading the content...
Similar Documents
Robust high-performance control for robotic manipulators (Document No: 20080004379)
| Content Provider | NASA Technical Reports Server (NTRS) |
|---|---|
| Copyright Year | 1991 |
| Description | Model-based and performance-based control techniques are combined for an electrical robotic control system. Thus, two distinct and separate design philosophies have been merged into a single control system having a control law formulation including two distinct and separate components, each of which yields a respective signal component that is combined into a total command signal for the system. Those two separate system components include a feedforward controller and a feedback controller. The feedforward controller is model-based and contains any known part of the manipulator dynamics that can be used for on-line control to produce a nominal feedforward component of the system's control signal. The feedback controller is performance-based and consists of a simple adaptive PID controller which generates an adaptive control signal to complement the nominal feedforward signal. |
| File Size | 1895732 |
| Page Count | 31 |
| File Format | |
| Alternate Webpage(s) | http://archive.org/details/NASA_NTRS_Archive_20080004379 |
| Archival Resource Key | ark:/13960/t8z944x9d |
| Language | English |
| Publisher Date | 1991-09-17 |
| Access Restriction | Open |
| Subject Keyword | Cybernetics, Artificial Intelligence And Robotics Robot Arms Patents Control Systems Design Robotics Ntrs Nasa Technical Reports Server (ntrs) Nasa Technical Reports Server Aerodynamics Aircraft Aerospace Engineering Aerospace Aeronautic Space Science |
| Content Type | Text |
| Resource Type | Patent |
