Engineering design of a multirate nonlinear controller for robot manipulators

DOI10.1002/ROB.4620060102MaRDI QIDQ3813346zbMATH OpenOpenAlexFDO

Authors J. L. Martins de Carvalho, José A. Tenreiro Machado

Publication date 1989

Published in Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL http://hdl.handle.net/10400.22/8844

zbMATH Keywords

multirate nonlinear controllerrobot manipulatorstorque method

Mathematics Subject Classification ID

Computational methods for problems pertaining to mechanics of particles and systems (70-08) Kinematics of mechanisms and robots (70B15) Control of mechanical systems (70Q05)

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Cites work

• A New Approach to Manipulator Control: The Cerebellar Model Articulation Controller (CMAC)
• Automated Symbolic Derivation of Dynamic Equations of Motion for Robotic Manipulators
• Controller Design for a Manipulator Using Theory of Variable Structure Systems
• Data Storage in the Cerebellar Model Articulation Controller (CMAC)
• Resolved-acceleration control of mechanical manipulators
• Robust nonlinear feedback control for robotic manipulators

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(4)

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• Dynamics of theN-link pendulum: a fractional perspective
• The \(N\)-link pendulum: embedding nonlinear dynamics into the multidimensional scaling method

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