| contributor author | David Bevly | |
| contributor author | Constantinos Mavroidis | |
| contributor author | Steven Dubowsky | |
| date accessioned | 2017-05-09T00:02:07Z | |
| date available | 2017-05-09T00:02:07Z | |
| date copyright | March, 2000 | |
| date issued | 2000 | |
| identifier issn | 0022-0434 | |
| identifier other | JDSMAA-26262#27_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/123490 | |
| description abstract | A simplified Cartesian computed torque (SCCT) control scheme and its application to an experimental climbing robot named LIBRA is presented. SCCT control is developed exploiting some of the characteristics of highly geared mobile robots. The effectiveness of the method is shown by simulation and experimental results using the LIBRA robot. SCCT control is shown to have improved performance, over traditional Jacobian transpose control, for the LIBRA multilimbed robot. [S0022-0434(00)03501-2] | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | A Simplified Cartesian-Computed Torque Controller for Highly Geared Systems and Its Application to an Experimental Climbing Robot | |
| type | Journal Paper | |
| journal volume | 122 | |
| journal issue | 1 | |
| journal title | Journal of Dynamic Systems, Measurement, and Control | |
| identifier doi | 10.1115/1.482425 | |
| journal fristpage | 27 | |
| journal lastpage | 32 | |
| identifier eissn | 1528-9028 | |
| keywords | Torque | |
| keywords | Control equipment | |
| keywords | Robots | |
| keywords | Force AND Mobile robots | |
| tree | Journal of Dynamic Systems, Measurement, and Control:;2000:;volume( 122 ):;issue: 001 | |
| contenttype | Fulltext | |