Title :
Exact Nonlinear Command Generation and Tracking for Robot Manipulators and Spacecraft Slewing Maneuvers
Author :
Dywer, T.A.W. ; Lee, G. K F
Author_Institution :
Department of Electrical Engineering, Colorado State University, Fort Collins, CO 80523
Abstract :
Design and hardware implementation schemes for exact model followers based on feedback linearization are discussed, both for spacecraft maneuvering and robotic manipulator control.
Keywords :
Error correction; Force feedback; Manipulator dynamics; Nonlinear control systems; Nonlinear equations; Orbital robotics; Riccati equations; Robot control; Space vehicles; Vehicle dynamics;
Conference_Titel :
American Control Conference, 1984
Conference_Location :
San Diego, CA, USA
