Robot Manipulator Control.

Abstract

This report presents a synthetic approach for calculating the control of robot manipulators. The initial control problem is broken down into linear control and modelling problems. The approach allows derivation of numerous schemes (adaptive or not) of control proposed in the literature and suggests new schemes. It is shown that the problem of modelling is difficult but is less crucial if one can synthesize robust controls that are not sensitive to errors of modelling.

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Document Details

Document Type
Technical Report
Publication Date
Mar 07, 1983
Accession Number
ADA129365

Entities

People

  • J. F. Blackburn

Organizations

  • Office of Naval Research

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Centrifugal Force
  • Coefficients
  • Computations
  • Control
  • Control Systems
  • Equations
  • Friction
  • Gravity
  • Identification
  • Linear Systems
  • Manipulators
  • Mathematical Models
  • Mechanical Engineering
  • Military Research
  • Models
  • Simulations
  • Trajectories

Readers

  • Regression Analysis.
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Bayesian Inference
  • AI & ML - Machine Learning Algorithms
  • Autonomy
  • Autonomy - Human-Robot Interaction