NASA NTRS · 19870000317
Robot-Arm Dynamic Control by Computer
Abstract
Feedforward and feedback schemes linearize responses to control inputs. Method for control of robot arm based on computed nonlinear feedback and state tranformations to linearize system and decouple robot end-effector motions along each of cartesian axes augmented with optimal scheme for correction of errors in workspace. Major new feature of control method is: optimal error-correction loop directly operates on task level and not on joint-servocontrol level.
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Bejczy, Antal K., Tarn, Tzyh J., Chen, Yilong J.. 1987-07-01. Robot-Arm Dynamic Control by Computer. https://ntrs.nasa.gov/citations/19870000317
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