• DocumentCode
    3623633
  • Title

    Nonlinear control of a hydraulic robot using singular perturbations

  • Author

    B. d´Andrea-Novel;M.A. Garnero;A. Abichou

  • Author_Institution
    Centre Autom. et Syst., Ecole des Mines de Paris, Fontainebleau, France
  • Volume
    2
  • fYear
    1994
  • Firstpage
    1932
  • Abstract
    We consider the control problem of a 6-axis hydraulically actuated robot. To elaborate the control, we establish a simplified model which is in standard form to apply the singular perturbation method. We consider successively the problems of trajectory tracking and stabilization.
  • Keywords
    "Robots","Perturbation methods","Trajectory"
  • Publisher
    ieee
  • Conference_Titel
    Systems, Man, and Cybernetics, 1994. Humans, Information and Technology., 1994 IEEE International Conference on
  • Print_ISBN
    0-7803-2129-4
  • Type

    conf

  • DOI
    10.1109/ICSMC.1994.400134
  • Filename
    400134
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3623633