Control of a Tendon Arm.

Abstract

The dynamics and control of a tendon driven three degree of freedom shoulder joint are studied. A control scheme consisting of two phases has been developed. In the first phase, approximation of the time optimal control trajectory was applied open loop to the system. In the second phase a closed loop linear feedback law was employed to bring the system to the desired final state and to maintain it there. (Author)

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Document Details

Document Type
Technical Report
Publication Date
Feb 01, 1981
Accession Number
ADA098089

Entities

People

  • Kok Huang Lim

Organizations

  • Massachusetts Institute of Technology

Tags

Communities of Interest

  • Air Platforms
  • C4I
  • Energy and Power Technologies

DTIC Thesaurus Topics

  • Artificial Intelligence
  • Computational Fluid Dynamics
  • Computational Science
  • Computers
  • Coordinate Systems
  • Diagrams
  • Equations
  • Equations Of Motion
  • Joints
  • Joints (Anatomy)
  • Mathematical Models
  • Military Research
  • Moment Of Inertia
  • Nonlinear Systems
  • Schematic Diagrams
  • Simulations
  • Steady State

Readers

  • Control Systems Engineering.
  • Exercise and Sports Science.