NDLI: Intelligent control for complex robotic systems

Content Provider	IEEE Xplore Digital Library
Author	Cotsaftis, M.
Copyright Year	1993
Abstract	In order to give complex mechanical systems more capabilities in their dynamical behavior, the classical approach must be amended to comply with their structure. As they exhibit a complicated and mixed pattern of displacements and deformations, their trajectories become very complicated, and no structured information can be obtained from them. More global quantities, such as power input which fixes a set of possible trajectories in a fixed function space, must be determined. This leads to the concept of functional control which aims at controlling the system globally from its accessible previous rigid variables without entering the (unusable) detail of exact trajectories. Possible improvement is obtained by adding learning type control, and by setting parameters so that a converging fixed point property can be obtained. An upper control loop of a more qualitative decisional nature can be added on top of a functional low level loop, freeing the choice of system behavior in an unstructured environment.
Starting Page	75
Ending Page	80
File Size	600405
Page Count	6
File Format	PDF
ISBN	0818634502
DOI	10.1109/ROBOT.1993.292127
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1993-05-02
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Intelligent control Intelligent robots Control systems Robot kinematics Equations Torque control Uncertainty Error correction PD control Proportional control
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in