DocumentCode
700553
Title
Nonlinear tracking control for a tetrabot robot
Author
Liqun Yao ; Spurgeon, Sarah K.
Author_Institution
Dept. of Eng., Univ. of Leicester, Leicester, UK
fYear
1997
fDate
1-7 July 1997
Firstpage
730
Lastpage
735
Abstract
Results of the application of an advanced nonlinear controller to the problem of joint motion control for a robot are presented. For a class of desired state motions a control strategy is presented which ensures that the system asymptotically tracks the desired motion to any desired degree of accuracy. The results are applied to a three degree of freedom Tetrahedral robot. Simulation results and experimental studies are described.
Keywords
asymptotic stability; control system synthesis; end effectors; motion control; nonlinear control systems; control strategy; degree-of-accuracy; joint motion control; nonlinear tracking control; three-degree-of-freedom Tetrahedral robot; Joints; Mathematical model; Robots; Torque; Tracking; Trajectory; Wrist; Nonlinear control; Robotics; Uncertain systems;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Conference (ECC), 1997 European
Conference_Location
Brussels
Print_ISBN
978-3-9524269-0-6
Type
conf
Filename
7082183
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