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
fDate :
29 June-1 July 1994
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;
Conference_Titel :
American Control Conference, 1994
Print_ISBN :
0-7803-1783-1
DOI :
10.1109/ACC.1994.752408
