Principles and design of model-based robot controllers
作者:
VASSILIOSD. TOURASSIS,
期刊:
International Journal of Control
(Taylor Available online 1988)
卷期:
Volume 47,
issue 5
页码: 1267-1275
ISSN:0020-7179
年代: 1988
DOI:10.1080/00207178808906094
出版商: Taylor & Francis Group
数据来源: Taylor
摘要:
Model-based control algorithms for industrial manipulators require the on-line evaluation of robot dynamics and are particularly sensitive to modelling errors. The development of a unifying framework for the analysis and design of model-based robot control strategies is the theme of this paper. In this framework, the practical problems associated with real-time implementation are highlighted and methods to improve the robustness of the closed-loop system are suggested.
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