NASA NTRS · 19900000500
Exact Linearization For Control Of Robots
Abstract
Equivalence of several theoretical approaches discussed. Report comments on application of geometric control theory (GCT), resolved-acceleration control (RAC), operational-space control (OSC), and nonlinear-decoupling theory (NDT) to remote manipulator consisting of multiple rigid links. Principal concern, search for nonlinear feedback law making end effector behave, for purposes of control, as though its dynamics linear and decoupled.
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Kreutz, Kenneth K.. 1990-09-01. Exact Linearization For Control Of Robots. https://ntrs.nasa.gov/citations/19900000500
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