• DocumentCode
    3085871
  • Title

    Imaginary robot: Concept and application to robotic system modeling

  • Author

    You-Liang Gu ; Loh, N.K. ; Coleman, N.

  • Author_Institution
    Oakland University, Rochester, Michigan
  • Volume
    26
  • fYear
    1987
  • fDate
    9-11 Dec. 1987
  • Firstpage
    1011
  • Lastpage
    1016
  • Abstract
    A new dynamic model which represents an exact linearization scheme with a simplified nonlinear feedback is presented in this paper. To realize this model for robotic systems, the output function should be chosen so that a special decomposition of the total inertial matrix is satisfied. The concept of an imaginary robot is introduced to achieve the formulation and to solve the realization problem. Two illustrative examples are given in the paper, one for the Stanford arm and the other for a PUMA type of robots.
  • Keywords
    Automatic control; Lagrangian functions; Modeling; Research and development; Robotics and automation; Robots;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Decision and Control, 1987. 26th IEEE Conference on
  • Conference_Location
    Los Angeles, California, USA
  • Type

    conf

  • DOI
    10.1109/CDC.1987.272549
  • Filename
    4049426
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3085871