DocumentCode
1555404
Title
Robot control in the neighborhood of singular points
Author
Sampei, Mitsuji ; Furuta, Katsuhisa
Author_Institution
Dept. of Control Eng., Tokyo Inst. of Technol., Japan
Volume
4
Issue
3
fYear
1988
fDate
6/1/1988 12:00:00 AM
Firstpage
303
Lastpage
309
Abstract
An alternative method is proposed for designing a robot-controller in Cartesian coordinates using a time-scale transformation. The proposed controller achieves slow poles in the area of poor manipulative ability and fast poles in the area of good manipulative ability. Therefore, the robot can be properly controlled in the neighbourhood of singular points without reducing the performance outside the neighborhood of these points
Keywords
control system synthesis; poles and zeros; position control; robots; Cartesian coordinates; design; fast poles; robot-controller; single points neighborhood; slow poles; time-scale transformation; Control engineering; Control systems; End effectors; Equations; Feedback; Motion control; Robot control; Robot kinematics; Robot sensing systems; Robotics and automation;
fLanguage
English
Journal_Title
Robotics and Automation, IEEE Journal of
Publisher
ieee
ISSN
0882-4967
Type
jour
DOI
10.1109/56.791
Filename
791
Link To Document