• DocumentCode
    3614250
  • Title

    Model reference tracking control for constrained robotic systems

  • Author

    E. Jarzebowska

  • Author_Institution
    Inst. of Aircraft Eng. & Appl. Mech., Tech. Univ. Warsaw, Poland
  • fYear
    2002
  • fDate
    6/24/1905 12:00:00 AM
  • Firstpage
    153
  • Lastpage
    158
  • Abstract
    The paper presents the development of a tracking controller for robotic systems with constraints of arbitrary order and types. Specifically, we define robot tasks by constraints, which are referred to as program constraints. A dynamic model of motion according to constraints is referred to as a reference program motion model. Based on the reference model the tracking controller has been designed.
  • Keywords
    "Robot control","Mobile robots","Orbital robotics","Robot motion","Motion control","Acceleration","Equations","Aerospace control","Aircraft propulsion","Aerospace engineering"
  • Publisher
    ieee
  • Conference_Titel
    Robot Motion and Control, 2002. RoMoCo ´02. Proceedings of the Third International Workshop on
  • Print_ISBN
    83-7143-429-4
  • Type

    conf

  • DOI
    10.1109/ROMOCO.2002.1177101
  • Filename
    1177101
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3614250