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.


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    Title :

    Robust, High-Performance Control For Robotic Manipulators


    Contributors:

    Published in:

    Publication date :

    1990-09-01



    Type of media :

    Miscellaneous


    Type of material :

    No indication


    Language :

    English




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