Improved control scheme for robotic manipulators results from alternative approach to use of both model-based and performance-based control techniques. Includes feedforward controller and separate feedback controller. Feedforward controller model-based and contains any known part of dynamics of manipulator used to produce nominal control signal. Feedback controller performance-based; compensates for any unknown dynamics and uncertainties or variations in parameters of manipulator and/or payload.
Robust, High-Performance Control For Robotic Manipulators
NASA Tech Briefs ; 14 , 9
1990-09-01
Miscellaneous
No indication
English
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