DocumentCode
1395725
Title
Control system design with online planning for a desired signal and its application to robot manipulators
Author
Matsushita, Akihiko ; Tsuchiya, Takeshi
Author_Institution
Fac. of Eng., Hokkaido Univ., Sapporo, Japan
Volume
3
Issue
2
fYear
1998
fDate
6/1/1998 12:00:00 AM
Firstpage
149
Lastpage
152
Abstract
A simultaneous design method of an online planner of a desired signal and a control system is proposed to consider the interaction between the planner and the control system. The designed planner is sufficiently simple to calculate in real time. The proposed method is applied to posture control of robot manipulators
Keywords
control system synthesis; manipulators; path planning; control system design; online planning; posture control; robot manipulators; Control systems; Design methodology; History; Manipulators; Mobile robots; Motion planning; Path planning; Servomechanisms; Signal design; Trajectory;
fLanguage
English
Journal_Title
Mechatronics, IEEE/ASME Transactions on
Publisher
ieee
ISSN
1083-4435
Type
jour
DOI
10.1109/3516.686684
Filename
686684
Link To Document