Generalised command matching for a robot gripping an inertial load
Generalised command matching for a robot gripping an inertial load
- Author(s): P.N. Paraskevopoulos ; F.N. Koumboulis ; K.G. Tzierakis
- DOI: 10.1049/ip-d.1993.0049
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- Author(s): P.N. Paraskevopoulos 1 ; F.N. Koumboulis 2 ; K.G. Tzierakis 1
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View affiliations
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Affiliations:
1: Division of Computer Science, Department of Electrical Engineering, National Technical University of Athens, Athens, Greece
2: Department of Electronics, National Research Defence Centre, Athens, Greece
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Affiliations:
1: Division of Computer Science, Department of Electrical Engineering, National Technical University of Athens, Athens, Greece
- Source:
Volume 140, Issue 6,
November 1993,
p.
373 – 379
DOI: 10.1049/ip-d.1993.0049 , Print ISSN 0143-7054, Online ISSN 2053-793X
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The problem of controlling a robot with end effector rigidly gripping an inertial load is studied using the generalised command-matching technique via proportional state feedback. In particular, the necessary and sufficient conditions for the problem to have a solution are established and the general analytical expressions of the controller matrices are derived. Structural properties of the resulting closed-loop system are also investigated.
Inspec keywords: proportional control; feedback; robots; closed loop systems; controllability
Other keywords:
Subjects: Control system analysis and synthesis methods; Robotics
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