Control of a rover-mounted manipulator (Q4249946)
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scientific article; zbMATH DE number 1303373
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| English | Control of a rover-mounted manipulator |
scientific article; zbMATH DE number 1303373 |
Statements
8 October 2000
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chaos control
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six-revolute-joint robot manipulator
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mobile nonholonomic platform
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joint values
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robust control
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0.7726297974586487
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0.7585881352424622
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0.7547045946121216
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0.7517254948616028
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Control of a rover-mounted manipulator (English)
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The authors develop a control algorithm for a mechanical system built from a six-revolute-joint robot manipulator mounted on a mobile nonholonomic platform. The main purpose is to construct a global control of this mechanical system which calculates the joint values for both the robot manipulator and the mobile platform. The authors use a method which poses two additional kinematic tasks, and obtain the square matrix form of the governing equations. It is proved that the end-effector of the mechanical system follows the required trajectory. The final robust control algorithm is obtained by combination of both direct inverse and pseudo-inverse methods, and is validated by a test of two chaotic subsystems. For the entire collection see [Zbl 0901.00061].
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