This paper proposes a near-optimum control algorithm for a highly nonlinear robot manipulator model via a parameter sensitivity method. The method uses Pontrvagin's maximum principle and the Riccati formulation of...
This paper proposes a near-optimum control algorithm for a highly nonlinear robot manipulator model via a parameter sensitivity method. The method uses Pontrvagin's maximum principle and the Riccati formulation of the linear state regulator problem. The effectiveness of the proposed method is verified by simulation results for a two-link planar robot.
The paper proposes a frequency-domain approach to the problem of fixed mode elimination in decentralized systems. systems having distinct or repeated fixed modes are considered and decentralized controllers requiring ...
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The paper proposes a frequency-domain approach to the problem of fixed mode elimination in decentralized systems. systems having distinct or repeated fixed modes are considered and decentralized controllers requiring minimum number of interconnection gains for the elimination of fixed modes are characterized.
Robot manipulators have highly nonlinear dynamics. Therefore the control of multi-link robot arms is a challenging and difficult problem. In this paper a nonlinear dynamic model is first presented for an n-axis robot ...
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Computer-aided design (cad) has found a hew home in the control systems theory. Many control system's related problems such as analysis, design, estimation, filtering and simulation are now handled through cad pac...
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Computer-aided design (cad) has found a hew home in the control systems theory. Many control system's related problems such as analysis, design, estimation, filtering and simulation are now handled through cad packages and languages. Through these software tools, even a novice computer programmer can take advantage of powerful computational and numerical algorithms for control systems problems. In this paper a cad language for control and Kalman filtering will be presented. The language, called CONTROL. lab is written in FORTRAN/77 and can run under UNIX or VMS on a DEC 11/780 VAX computer system.
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