DocumentCode
3082418
Title
A nonlinear discrete-time control algorithm for robot manipulators
Author
Nicosia, S. ; Tomei, P. ; Tornambe, A.
Author_Institution
Seconda Universit?? di Roma, Roma, Italy
Volume
26
fYear
1987
fDate
9-11 Dec. 1987
Firstpage
205
Lastpage
210
Abstract
This paper presents a new approach to derive discrete-time decoupling control algorithms for robotic manipulators. By using discrete-time models, previously introduced, linearizing and decoupling control laws are obtained directly in the discrete-time domain. Simulation results validate the effectiveness of this approach specially with respect to the alternative one consisting in discretizing the continuous decoupling laws.
Keywords
Equations; Error correction; Heuristic algorithms; Lagrangian functions; Manipulators; Potential energy; Robot control; Robot kinematics; Sampling methods; Testing;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1987. 26th IEEE Conference on
Conference_Location
Los Angeles, California, USA
Type
conf
DOI
10.1109/CDC.1987.272742
Filename
4049252
Link To Document