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
收藏
页码：457 / 470
页数：14
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