DocumentCode
335467
Title
Numerically generated path stabilizing controllers. I. Theoretical concerns
Author
Campbell, Stephen L. ; Nikoukhah, Ramine ; Von Wissel, Dirk
Author_Institution
Dept. of Math., North Carolina State Univ., Raleigh, NC, USA
Volume
2
fYear
1994
fDate
29 June-1 July 1994
Firstpage
1918
Abstract
A method for the prescribed path control of robotic arms has previously been proposed which utilizes the ability to numerically integrate higher index DAE models quickly. In this paper the authors examine some of the issues involved with this method in order to effectively apply it to a wider class of path control problems.
Keywords
algebra; difference equations; integration; path planning; stability; higher index DAE models; numerically generated path stabilizing controllers; prescribed path control; robotic arms; Arm; Computational complexity; Differential equations; Mathematical model; Mathematics; Mechanical systems; Nonlinear equations; Predictive control; Robot control; Sampling methods;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1994
Print_ISBN
0-7803-1783-1
Type
conf
DOI
10.1109/ACC.1994.752408
Filename
752408
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