Modal Control of Fast Large-Scale Robot Motions

DOI10.1115/1.3143841MaRDI QIDQ3780955zbMATH OpenOpenAlexFDO

Authors Yury Stepanenko

Publication date 1987

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

Full work available at URL https://doi.org/10.1115/1.3143841

zbMATH Keywords

algorithmeigenvalue sensitivityeigenvector assignmentlinear state-feedback robotic controllinearized robot models

Mathematics Subject Classification ID

Eigenvalues, singular values, and eigenvectors (15A18) Kinematics of mechanisms and robots (70B15) Sensitivity (robustness) (93B35) Control of mechanical systems (70Q05) Pole and zero placement problems (93B55) Linear systems in control theory (93C05) Control/observation systems governed by ordinary differential equations (93C15) Application models in control theory (93C95)

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• Recursive linearizing and decoupling control of robots
• A system for partitioned control of a robot

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