Title :
Nonlinear control of a hydraulic robot using singular perturbations
Author :
B. d´Andrea-Novel;M.A. Garnero;A. Abichou
Author_Institution :
Centre Autom. et Syst., Ecole des Mines de Paris, Fontainebleau, France
Abstract :
We consider the control problem of a 6-axis hydraulically actuated robot. To elaborate the control, we establish a simplified model which is in standard form to apply the singular perturbation method. We consider successively the problems of trajectory tracking and stabilization.
Keywords :
"Robots","Perturbation methods","Trajectory"
Conference_Titel :
Systems, Man, and Cybernetics, 1994. Humans, Information and Technology., 1994 IEEE International Conference on
Print_ISBN :
0-7803-2129-4
DOI :
10.1109/ICSMC.1994.400134
