An Approach to Multivariable Control of Manipulators
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feedbackfeedforwardjoint control schememultiple-joint robot manipulatorsmultivariable controloff-line gain schedulingon-line gain computationpole placementrobust steady-state tracking
Kinematics of mechanisms and robots (70B15) Control of mechanical systems (70Q05) Pole and zero placement problems (93B55) Control/observation systems governed by ordinary differential equations (93C15) Multivariable systems, multidimensional control systems (93C35) Application models in control theory (93C95)
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- Eigenstructure assignment in robot tracking applications
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