| contributor author | S. N. Singh | |
| contributor author | A. A. Schy | |
| date accessioned | 2017-05-08T23:19:47Z | |
| date available | 2017-05-08T23:19:47Z | |
| date copyright | December, 1985 | |
| date issued | 1985 | |
| identifier issn | 0022-0434 | |
| identifier other | JDSMAA-26089#308_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/99581 | |
| description abstract | Using an inversion approach we derive a control law for trajectory following of robotic systems. A servocompensator is used around the inner decoupled loop for robustness to uncertainty in the system. These results are applied to trajectory control of a three-degrees-of-freedom robot arm and control laws Cθ and CH for joint angle and position trajectory following, respectively, are derived. Digital simulation results are presented to show the rapid trajectory following capability of the controller in spite of payload uncertainty. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Robust Trajectory Following Control of Robotic Systems | |
| type | Journal Paper | |
| journal volume | 107 | |
| journal issue | 4 | |
| journal title | Journal of Dynamic Systems, Measurement, and Control | |
| identifier doi | 10.1115/1.3140741 | |
| journal fristpage | 308 | |
| journal lastpage | 315 | |
| identifier eissn | 1528-9028 | |
| tree | Journal of Dynamic Systems, Measurement, and Control:;1985:;volume( 107 ):;issue: 004 | |
| contenttype | Fulltext | |