Title :
Computation methods in design of robotic orientation control
Author_Institution :
Dept. of Electr. & Syst. Eng., Oakland Univ., Rochester, MI, USA
Abstract :
The design of robotic orientation control is relatively difficult due to its representation problem. A number of conventional orientation representation methods are reviewed. A detailed analysis, formulations, design procedures and computation methods in robotic orientation control, particularly for a class of trajectory-tracking control problems, are developed. A computer simulation study of orientation control for a robotic wrist system is discussed
Keywords :
control system synthesis; digital simulation; position control; robots; control system synthesis; digital simulation; position control; representation problem; robotic orientation control; trajectory-tracking control; wrist system; Acceleration; Control systems; Design methodology; Jacobian matrices; Nonlinear control systems; Position control; Robot control; Robot kinematics; Vectors; Wrist;
Conference_Titel :
Decision and Control, 1989., Proceedings of the 28th IEEE Conference on
Conference_Location :
Tampa, FL
DOI :
10.1109/CDC.1989.70203
