DocumentCode
2963977
Title
A pole placement approach to multivariable control of manipulators
Author
Man, Liu De ; Fu, Liu Zong
Author_Institution
Dept. of Autom. Control, Northeast Univ. of Technol., Shenyang, Liaoning, China
fYear
1989
fDate
14-17 Nov 1989
Firstpage
806
Abstract
An efficient approach for multivariable digital control of robotic manipulators, based on pole placement by state feedback, is presented as an improved approach to path control. Implementation of these approaches by both gain scheduling and online computation is discussed. An example of the computations for a three-link robot arm and computer simulation experiments are given
Keywords
digital control; feedback; multivariable control systems; poles and zeros; robots; digital control; manipulators; multivariable control; path control; pole placement; robot arm; state feedback; Adaptive control; Automatic control; Couplings; Differential equations; Manipulator dynamics; Nonlinear equations; Orbital robotics; Robot control; Service robots; State feedback;
fLanguage
English
Publisher
ieee
Conference_Titel
Systems, Man and Cybernetics, 1989. Conference Proceedings., IEEE International Conference on
Conference_Location
Cambridge, MA
Type
conf
DOI
10.1109/ICSMC.1989.71405
Filename
71405
Link To Document