An Approach to Multivariable Control of Manipulators

DOI10.1115/1.3143832zbMath0638.93049OpenAlexW1998365063MaRDI QIDQ3780954

H. Seraji

Publication date: 1987

Published in: Journal of Dynamic Systems, Measurement, and Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1115/1.3143832

zbMATH Keywords

feedbackmultivariable controlpole placementfeedforwardjoint control schememultiple-joint robot manipulatorsoff-line gain schedulingon-line gain computationrobust steady-state tracking

Mathematics Subject Classification ID

Application models in control theory (93C95) Multivariable systems, multidimensional control systems (93C35) Pole and zero placement problems (93B55) Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15) Control/observation systems governed by ordinary differential equations (93C15)

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Eigenstructure assignment in robot tracking applications ⋮ A multivariable control scheme for robot manipulators

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