Generalised command matching for a robot gripping an inertial load

Paraskevopoulos, PN; Koumboulis, FN; Tzierakis, KG

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