Title :
Control system design with online planning for a desired signal and its application to robot manipulators
Author :
Matsushita, Akihiko ; Tsuchiya, Takeshi
Author_Institution :
Fac. of Eng., Hokkaido Univ., Sapporo, Japan
fDate :
6/1/1998 12:00:00 AM
Abstract :
A simultaneous design method of an online planner of a desired signal and a control system is proposed to consider the interaction between the planner and the control system. The designed planner is sufficiently simple to calculate in real time. The proposed method is applied to posture control of robot manipulators
Keywords :
control system synthesis; manipulators; path planning; control system design; online planning; posture control; robot manipulators; Control systems; Design methodology; History; Manipulators; Mobile robots; Motion planning; Path planning; Servomechanisms; Signal design; Trajectory;
Journal_Title :
Mechatronics, IEEE/ASME Transactions on
DOI :
10.1109/3516.686684
