Title :
A pole placement approach to multivariable control of manipulators
Author :
Man, Liu De ; Fu, Liu Zong
Author_Institution :
Dept. of Autom. Control, Northeast Univ. of Technol., Shenyang, Liaoning, China
Abstract :
An efficient approach for multivariable digital control of robotic manipulators, based on pole placement by state feedback, is presented as an improved approach to path control. Implementation of these approaches by both gain scheduling and online computation is discussed. An example of the computations for a three-link robot arm and computer simulation experiments are given
Keywords :
digital control; feedback; multivariable control systems; poles and zeros; robots; digital control; manipulators; multivariable control; path control; pole placement; robot arm; state feedback; Adaptive control; Automatic control; Couplings; Differential equations; Manipulator dynamics; Nonlinear equations; Orbital robotics; Robot control; Service robots; State feedback;
Conference_Titel :
Systems, Man and Cybernetics, 1989. Conference Proceedings., IEEE International Conference on
Conference_Location :
Cambridge, MA
DOI :
10.1109/ICSMC.1989.71405
