Title :
Decoupled control of robots via asymptotic regulators
Author :
M. Vukobratovic;N. Kircanski
Author_Institution :
Institute Mihailo Pupin, Belgrade, Yugoslavia
Abstract :
A procedure for industrial robot control synthesis based on asymptotic regulator properties is presented. It involves computer linearization of the dynamic manipulator model along a given nominal trajectory and an efficient algorithm for synthesis of a robust linear regulator ensuring the decoupled control of the system.
Keywords :
"Robot control","Regulators","Control system synthesis","Vectors","Actuators","Mathematical model","State-space methods","Service robots","Electrical equipment industry","Industrial control"
Journal_Title :
IEEE Transactions on Automatic Control
DOI :
10.1109/TAC.1983.1103147
