DocumentCode
844785
Title
Advanced controller design for robot arms
Author
Lin, Ching-Fang
Author_Institution
Boeing Military Airplane Company, Seattle, WA, USA
Volume
29
Issue
4
fYear
1984
fDate
4/1/1984 12:00:00 AM
Firstpage
350
Lastpage
353
Abstract
The idea of advanced controller design using modern state estimation, identification, and control techniques with a nonlinear system inverse for robot arm applications is presented. A generalized solution for the trajectory regulator of the robot arm controller using the inverse system is given.
Keywords
Inverse problems, nonlinear; Manipulators; Parameter identification, nonlinear systems; State estimation, nonlinear systems; Control systems; Frequency; Manipulators; Modems; Nonlinear control systems; Nonlinear systems; Parameter estimation; Regulators; Robot control; State estimation;
fLanguage
English
Journal_Title
Automatic Control, IEEE Transactions on
Publisher
ieee
ISSN
0018-9286
Type
jour
DOI
10.1109/TAC.1984.1103527
Filename
1103527
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