GENERALIZED COMMAND MATCHING FOR A ROBOT GRIPPING AN INERTIAL LOAD

Authors
PARASKEVOPOULOS PN KOUMBOULIS FN TZIERAKIS KG
Citation
Pn. Paraskevopoulos et al., GENERALIZED COMMAND MATCHING FOR A ROBOT GRIPPING AN INERTIAL LOAD, IEE proceedings. Part D. Control theory and applications, 140(6), 1993, pp. 373-379
Citations number
21
Categorie Soggetti
Instument & Instrumentation","Engineering, Eletrical & Electronic
Journal title
IEE proceedings. Part D. Control theory and applications → ACNP
ISSN journal
01437054
Volume
140
Issue
6
Year of publication
1993
Pages
373 - 379
Database
ISI
SICI code
0143-7054(1993)140:6<373:GCMFAR>2.0.ZU;2-P
Abstract
The problem of controlling a robot with end effector rigidly gripping an inertial load is studied using the generalised command-matching tec hnique via proportional state feedback. In particular, the necessary a nd sufficient conditions for the problem to have a solution are establ ished and the general analytical expressions of the controller matrice s are derived. Structural properties of the resulting closed-loop syst em are also investigated.