• DocumentCode
    3784611
  • Title

    Decoupled control of robots via asymptotic regulators

  • Author

    M. Vukobratovic;N. Kircanski

  • Author_Institution
    Institute Mihailo Pupin, Belgrade, Yugoslavia
  • Volume
    28
  • Issue
    10
  • fYear
    1983
  • Firstpage
    978
  • Lastpage
    981
  • Abstract
    A procedure for industrial robot control synthesis based on asymptotic regulator properties is presented. It involves computer linearization of the dynamic manipulator model along a given nominal trajectory and an efficient algorithm for synthesis of a robust linear regulator ensuring the decoupled control of the system.
  • Keywords
    "Robot control","Regulators","Control system synthesis","Vectors","Actuators","Mathematical model","State-space methods","Service robots","Electrical equipment industry","Industrial control"
  • Journal_Title
    IEEE Transactions on Automatic Control
  • Publisher
    ieee
  • ISSN
    0018-9286
  • Type

    jour

  • DOI
    10.1109/TAC.1983.1103147
  • Filename
    1103147
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3784611