Control of a high precision macro-micro robotic manipulator system

被引：0
|
作者：
Whang Cho
机构：
[1] Institute of New Technology Kwangwoon University,Dept. of Control & Instrumentation
来源：
KSME International Journal | 1997年 / 11卷
关键词：
MAMI Robotic System; Feedback Linearization;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
A controller for macro-micro robotic manipulator system in which kinematically independent two robotic sub-systems work together to improve the accuracy of the motion is proposed. A nonlinear feedback linearization scheme is employed as basic architecture for the controller and additional formulations about the controller structure are made to assure the robustness of the overall control action and to restrict the motion of micro sub-system close to its nominal position without causing saturation of joints associated with micro-robot.
引用
收藏
页码：29 / 44
页数：15
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