Title :
Advanced controller design for robot arms
Author_Institution :
Boeing Military Airplane Company, Seattle, WA, USA
fDate :
4/1/1984 12:00:00 AM
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;
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.1984.1103527
