IMPLEMENTATION OF NONLINEAR TRACKING CONTROL SCHEMES FOR A SERIAL PARALLEL TOPOLOGY ROBOT/

Authors
YAO L SPURGEON SK
Citation
L. Yao et Sk. Spurgeon, IMPLEMENTATION OF NONLINEAR TRACKING CONTROL SCHEMES FOR A SERIAL PARALLEL TOPOLOGY ROBOT/, Proceedings of the Institution of Mechanical Engineers. Part I, Journal of systems and control engineering, 211(6), 1997, pp. 457-470
Citations number
12
Journal title
Proceedings of the Institution of Mechanical Engineers. Part I, Journal of systems and control engineering → ACNP
ISSN journal
09596518
Volume
211
Issue
6
Year of publication
1997
Pages
457 - 470
Database
ISI
SICI code
0959-6518(1997)211:6<457:IONTCS>2.0.ZU;2-F
Abstract
Results of the application of an advanced non-linear controller to the problem of joint motion control for a robot are presented. For a clas s of desired state motions a control strategy is expounded which ensur es that the system asymptotically tracks the desired motion to any des ired degree of accuracy. The results are applied to a three-degree-of- freedom tetrahedral robot. Simulation results and experimental studies are described.