DocumentCode :
1108341
Title :
On manipulator control by exact linearization
Author :
Kreutz, Kenneth
Author_Institution :
Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
Volume :
34
Issue :
7
fYear :
1989
fDate :
7/1/1989 12:00:00 AM
Firstpage :
763
Lastpage :
767
Abstract :
Comments on the application to rigid link manipulators of geometric control theory, resolved acceleration control, operational space control, and nonlinear decoupling theory are given, and the essential unity of these techniques for externally linearizing and decoupling end effector dynamics is discussed. Exploiting the fact that the mass matrix of a rigid link manipulator is positive definite, and the fact that there is an independent input for each degree of freedom, it is shown that a necessary and sufficient condition for a locally externally linearizing and output decoupling feedback law to exist is that the end effector Jacobian matrix be nonsingular
Keywords :
acceleration control; dynamics; linearisation techniques; robots; Jacobian matrix; end effector dynamics; exact linearization; geometric control theory; manipulator control; mass matrix; nonlinear decoupling theory; operational space control; resolved acceleration control; rigid link manipulators; Acceleration; Aerodynamics; Control theory; End effectors; Jacobian matrices; Manipulator dynamics; Nonlinear control systems; State feedback; Sufficient conditions; Torque;
fLanguage :
English
Journal_Title :
Automatic Control, IEEE Transactions on
Publisher :
ieee
ISSN :
0018-9286
Type :
jour
DOI :
10.1109/9.29408
Filename :
29408
Link To Document :
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