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Titolo:
REDUCED-ORDER OBSERVER-BASED POINT-TO-POINT AND TRAJECTORY CONTROLLERS FOR ROBOT MANIPULATORS
Autore:
KHELFI MF; ZASADZINSKI M; RAFARALAHY H; RICHARD E; DAROUACH M;
Indirizzi:
UNIV NANCY 1,CRAN,ACS,CNRS,URA 821,186 RUE LORRAINE F-54400 COSNES ETROMAIN FRANCE UNIV METZ,INRIA LORRAINE F-57070 METZ FRANCE
Titolo Testata:
Control engineering practice
fascicolo: 7, volume: 4, anno: 1996,
pagine: 991 - 1000
SICI:
0967-0661(1996)4:7<991:ROPATC>2.0.ZU;2-R
Fonte:
ISI
Lingua:
ENG
Soggetto:
POSITION MEASUREMENTS;
Keywords:
ROBOT MANIPULATORS; EXPONENTIAL REDUCED-ORDER OBSERVERS; CONTROLLER DESIGN; ASYMPTOTIC STABILITY;
Tipo documento:
Article
Natura:
Periodico
Settore Disciplinare:
CompuMath Citation Index
Science Citation Index Expanded
Citazioni:
13
Recensione:
Indirizzi per estratti:
Citazione:
M.F. Khelfi et al., "REDUCED-ORDER OBSERVER-BASED POINT-TO-POINT AND TRAJECTORY CONTROLLERS FOR ROBOT MANIPULATORS", Control engineering practice, 4(7), 1996, pp. 991-1000

Abstract

This paper presents a design procedure for a reduced-order observer-based controller dedicated to n-joint robot manipulators. It is assumedthat only the joint angular positions are measured. The joint angularvelocities are estimated via an exponential reduced-order observer. Two types of control laws based on this observer are studied: point-to-point control with gravity compensation and trajectory control. Sufficient conditions to ensure the closed-loop stability are given. Performances of the reduced-order observer used with these two control laws are illustrated in a simulation study of a two-degrees-of-freedom robotmanipulator.

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Documento generato il 28/03/20 alle ore 23:10:12