HEAL DSpace

Generalised command matching for a robot gripping an inertial load

Αποθετήριο DSpace/Manakin

Εμφάνιση απλής εγγραφής

dc.contributor.author Paraskevopoulos, PN en
dc.contributor.author Koumboulis, FN en
dc.contributor.author Tzierakis, KG en
dc.date.accessioned 2014-03-01T01:09:25Z
dc.date.available 2014-03-01T01:09:25Z
dc.date.issued 1993 en
dc.identifier.issn 0143-7054 en
dc.identifier.uri https://dspace.lib.ntua.gr/xmlui/handle/123456789/10966
dc.subject COMMAND MATCHING en
dc.subject INERTIAL LOADS en
dc.subject PROPORTIONAL STATE FEEDBACK en
dc.subject ROBOTS en
dc.subject.classification Engineering, Electrical & Electronic en
dc.subject.classification Instruments & Instrumentation en
dc.subject.other Control theory en
dc.subject.other Controllability en
dc.subject.other Dynamic loads en
dc.subject.other Equations of motion en
dc.subject.other Matrix algebra en
dc.subject.other Mechanical properties en
dc.subject.other State space methods en
dc.subject.other Closed loop system en
dc.subject.other Command matching en
dc.subject.other Controller matrices en
dc.subject.other Inertial loads en
dc.subject.other Proportional state feedback en
dc.subject.other Robots en
dc.title Generalised command matching for a robot gripping an inertial load en
heal.type journalArticle en
heal.identifier.primary 10.1049/ip-d.1993.0049 en
heal.identifier.secondary http://dx.doi.org/10.1049/ip-d.1993.0049 en
heal.language English en
heal.publicationDate 1993 en
heal.abstract The problem of controlling a robot with end effector rigidly gripping an inertial load is studied using the generalised command-matching technique via proportional state feedback. In particular, the necessary and sufficient conditions for the problem to have a solution are established and the general analytical expressions of the controller matrices are derived. Structural properties of the resulting closed-loop system are also investigated. en
heal.publisher IEE-INST ELEC ENG en
heal.journalName IEE Proceedings D: Control Theory and Applications en
dc.identifier.doi 10.1049/ip-d.1993.0049 en
dc.identifier.isi ISI:A1993MM47900001 en
dc.identifier.volume 140 en
dc.identifier.issue 6 en
dc.identifier.spage 373 en
dc.identifier.epage 379 en


Αρχεία σε αυτό το τεκμήριο

Αρχεία Μέγεθος Μορφότυπο Προβολή

Δεν υπάρχουν αρχεία που σχετίζονται με αυτό το τεκμήριο.

Αυτό το τεκμήριο εμφανίζεται στην ακόλουθη συλλογή(ές)

Εμφάνιση απλής εγγραφής