| contributor author | S. Tadikonda | |
| contributor author | H. Baruh | |
| date accessioned | 2017-05-08T23:26:54Z | |
| date available | 2017-05-08T23:26:54Z | |
| date copyright | June, 1988 | |
| date issued | 1988 | |
| identifier issn | 0022-0434 | |
| identifier other | JDSMAA-26102#210_1.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/103749 | |
| description abstract | A method is presented for the pointwise-optimal control of robotic manipulators along a desired trajectory. An approximate expression for the manipulator response is used to minimize a quadratic performance index with a linear regulator and tracking criterion, during each sampling period. The delay associated with implementation of the control action is analyzed, and its adverse effects are eliminated by estimation of the joint angles and torques one time step ahead. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Pointwise-Optimal Control of Robotic Manipulators | |
| type | Journal Paper | |
| journal volume | 110 | |
| journal issue | 2 | |
| journal title | Journal of Dynamic Systems, Measurement, and Control | |
| identifier doi | 10.1115/1.3152673 | |
| journal fristpage | 210 | |
| journal lastpage | 213 | |
| identifier eissn | 1528-9028 | |
| tree | Journal of Dynamic Systems, Measurement, and Control:;1988:;volume( 110 ):;issue: 002 | |
| contenttype | Fulltext | |
