Trajectory control of a PUMA robot arm by inversion and servocompensation

DOI10.1080/00207728608926919zbMath0598.93029OpenAlexW2114377155MaRDI QIDQ3734251

Sahjendra N. Singh, G. Kuruvila, Charles T. L. Mills

Publication date: 1986

Published in: International Journal of Systems Science (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1080/00207728608926919

zbMATH Keywords

invertibilitytrajectory trackingrobustness to uncertaintyfunctional reproducibilityservocompensatorPUMA arm

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Nonlinear systems in control theory (93C10) Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15) Control/observation systems governed by ordinary differential equations (93C15)

Cites Work

• Invertibility of affine nonlinear control systems: A geometric approach
• Suboptimal control of industrial manipulators with a weighted minimum time-fuel criterion
• Decoupled control of robots via asymptotic regulators
• Contribution of suboptimal control of manipulation robots
• Invertibility of multivariable nonlinear control systems
• Resolved-acceleration control of mechanical manipulators
• A modified algorithm for invertibility in nonlinear systems

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