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Generalised command matching for a robot gripping an inertial load

Generalised command matching for a robot gripping an inertial load

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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.

http://iet.metastore.ingenta.com/content/journals/10.1049/ip-d.1993.0049
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