Abstract
We investigate certain fundamental properties of serial-link mechanical manipulators, as related to the control design. The manipulator has rigid links with revolute and/or prismatic joints. These properties include the upper bounds of the inertia matrix. Coriolis and centrifugal term, and gravitational term. As an illustrative example, a robust control is proposed based on this analysis. The generic properties are also readily applicable to other control designs.
| Original language | English (US) |
|---|---|
| Pages (from-to) | 3003-3007 |
| Number of pages | 5 |
| Journal | Proceedings of the American Control Conference |
| Volume | 5 |
| State | Published - 1999 |
| Externally published | Yes |
| Event | Proceedings of the 1999 American Control Conference (99ACC) - San Diego, CA, USA Duration: Jun 2 1999 → Jun 4 1999 |
ASJC Scopus subject areas
- Electrical and Electronic Engineering