System output coordination in problems of path-planning and robot motion control

被引：0
|
作者：
Miroshnik, IV [1 ]
Nikiforov, VO [1 ]
机构：
[1] Inst Fine Mech & Opt, Lab Cybernet & Control Syst, St Petersburg 197101, Russia
来源：
ROBOT CONTROL 1997, VOLS 1 AND 2 | 1998年
关键词：
robot control; nonlinear systems; trajectory-planning;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The paper analyzes problems of the multilink robot motion along smooth curves, whose geometry specifies both translational and rotational movements of the end link. A unified approach to planning and path-following based on coordinating control is proposed. Different control schemes and interpolation procedures are presented and discussed.
引用
收藏
页码：555 / 560
页数：4
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