Title :
Generalised command matching for a robot gripping an inertial load
Author :
Paraskevopoulos, P.N. ; Koumboulis, Fotis N. ; Tzierakis, K.G.
Author_Institution :
Dept. of Electr. Eng., Nat. Tech. Univ. of Athens, Greece
fDate :
11/1/1993 12:00:00 AM
Abstract :
The problem of controlling a robot with end effector rigidly gripping an inertial load is studied using the generalised command-matching technique via proportional state feedback. In particular, the necessary and sufficient conditions for the problem to have a solution are established and the general analytical expressions of the controller matrices are derived. Structural properties of the resulting closed-loop system are also investigated.
Keywords :
closed loop systems; controllability; feedback; proportional control; robots; closed-loop system; controller matrices; generalised command matching; inertial load; necessary and sufficient conditions; proportional state feedback; robot gripping; structural properties;
Journal_Title :
Control Theory and Applications, IEE Proceedings D
