CONTROL-SYSTEM DESIGN WITH ONLINE PLANNING FOR A DESIRED SIGNAL AND ITS APPLICATION TO ROBOT MANIPULATORS

Authors
MATSUSHITA A TSUCHIYA T
Citation
A. Matsushita et T. Tsuchiya, CONTROL-SYSTEM DESIGN WITH ONLINE PLANNING FOR A DESIRED SIGNAL AND ITS APPLICATION TO ROBOT MANIPULATORS, IEEE-ASME TRANSACTIONS ON MECHATRONICS, 3(2), 1998, pp. 149-152
Citations number
17
Categorie Soggetti
Robotics & Automatic Control","Robotics & Automatic Control","Engineering, Manufacturing","Engineering, Mechanical","Engineering, Eletrical & Electronic
Journal title
IEEE-ASME TRANSACTIONS ON MECHATRONICS → ACNP
ISSN journal
10834435
Volume
3
Issue
2
Year of publication
1998
Pages
149 - 152
Database
ISI
SICI code
1083-4435(1998)3:2<149:CDWOPF>2.0.ZU;2-0
Abstract
A simultaneous design method of an on-line planner of a desired signal and a control system is proposed to consider the interaction between the planner and the control system. The designed planner is sufficient ly simple to calculate in real time. The proposed method is applied to posture control of robot manipulators.