Time decomposition approach of robot control

Stavrakakis, G

dc.contributor.author	Stavrakakis, G	en
dc.date.accessioned	2014-03-01T02:47:54Z
dc.date.available	2014-03-01T02:47:54Z
dc.date.issued	1989	en
dc.identifier.issn	07411146	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/33420
dc.relation.uri	http://www.scopus.com/inward/record.url?eid=2-s2.0-0024926463&partnerID=40&md5=a3dc5d9a41d21bf07b7bde7516d1b313	en
dc.subject.other	Control Systems--Design	en
dc.subject.other	Composite Control	en
dc.subject.other	Robot Control Problem	en
dc.subject.other	Singular Perturbation Methods	en
dc.subject.other	Two-Time Scale Control	en
dc.subject.other	Robots, Industrial	en
dc.title	Time decomposition approach of robot control	en
heal.type	conferenceItem	en
heal.publicationDate	1989	en
heal.abstract	Recent progress in the use of singular perturbation and two-time-scale methods of modeling and design for control systems is applied for Robot Control design. In this paper the two-time scale behavior of the full order Robot systems is first shown. Then, recent two-time scale results are exploited to design slow and fast controls and to combine them into a composite control for Robots. As an illustration the author presents a corrective design to compensate for fast actuator dynamics modeled as singular perturbations.	en
heal.publisher	Publ by Pergamon Press Inc, Elmsford, NY, United States	en
heal.journalName	IFAC Proceedings Series	en
dc.identifier.issue	10	en
dc.identifier.spage	59	en
dc.identifier.epage	62	en