Implementation of non-linear tracking control schemes for a serial/parallel topology robot

被引：0

作者：

Yao, L ^{[1
]}

Spurgeon, SK ^{[1
]}

机构：

[1] Univ Leicester, Dept Engn, Leicester LE1 7RH, Leics, England

来源：

PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING | 1997年 / 211卷 / 06期

关键词：

robotics; non-linear control; uncertain systems; Lyapunov control;

D O I：

10.1243/0959651981540044

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Results of the application of an advanced non-linear controller to the problem of joint motion control for a robot are presented. For a class of desired state motions a control strategy is expounded which ensures that the system asymptotically tracks the desired motion to any desired degree of accuracy. The results are applied to a three-degree-of-freedom tetrahedral robot. Simulation results and experimental studies are described.

引用

页码：457 / 470

页数：14

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