DocumentCode
3265857
Title
Computation methods in design of robotic orientation control
Author
Gu, You-Liang
Author_Institution
Dept. of Electr. & Syst. Eng., Oakland Univ., Rochester, MI, USA
fYear
1989
fDate
13-15 Dec 1989
Firstpage
680
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1989., Proceedings of the 28th IEEE Conference on
Conference_Location
Tampa, FL
Type
conf
DOI
10.1109/CDC.1989.70203
Filename
70203
Link To Document