Optimal Tracking Controller Design for Invariant Dynamics Direct-Drive Arms

DOI10.1115/1.3143807MaRDI QIDQ3753897zbMATH OpenOpenAlexFDO

Authors H. A. Pak, Peter J. Turner

Publication date 1986

Published in Journal of Dynamic Systems, Measurement, and Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1115/1.3143807

zbMATH Keywords

transient response analysisexperimental observationsdirect-drive robot armsposition and velocity feedbacktracking controller design

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Control of mechanical systems (70Q05) Synthesis problems (93B50) Application models in control theory (93C95)

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Cited in

(2)

• The Design of Open-Loop Manipulator Arms With Decoupled and Configuration-Invariant Inertia Tensors
• High-speed precision tracking with harmonic drive systems using integral manifold control design

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