DocumentCode
3085965
Title
Nonlinear control for robots with significant drive nonlinearities
Author
Taylor, P.M. ; Gilbert, J.M.
Author_Institution
University of Hull, Hull, England
Volume
26
fYear
1987
fDate
9-11 Dec. 1987
Firstpage
1035
Lastpage
1036
Abstract
This paper describes progress being made towards the computer aided design of Variable Structure type controllers for robots which exhibit significant drive nonlinearities. Results are given of the design of such a controller for a single axis, compared with the performance of the existing PID controller, and future research plans are outlined towards multi-axis control.
Keywords
Control nonlinearities; Paramagnetic resonance; Remotely operated vehicles; Robot control;
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.1987.272554
Filename
4049431
Link To Document