Robot Manipulator Control.

reportActive / Technical Report | Accession Number: ADA129365 | Open PDF

Abstract:

This report presents a synthetic approach for calculating the control of robot manipulators. The initial control problem is broken down into linear control and modelling problems. The approach allows derivation of numerous schemes adaptive or not of control proposed in the literature and suggests new schemes. It is shown that the problem of modelling is difficult but is less crucial if one can synthesize robust controls that are not sensitive to errors of modelling.

Author(s):
Blackburn, J. F.
Author Organization(s):
OFFICE OF NAVAL RESEARCH LONDON (ENGLAND)
Descriptive Note:
Technical rept.,
Pagination:
0015

Security Markings

DOCUMENT & CONTEXTUAL SUMMARY

Distribution:
Approved For Public Release

RECORD

Collection: TR
Identifying Numbers
Report Number(s):
ONRL-R-1-83
 Subject Terms
Joint Capability Areas:
JCA_3_Force Application; JCA_3.1.2_Maneuver to Insert; JCA_3.1_Maneuver; JCA_5_Command and Control; JCA_3.2_Engagement; JCA_3.2.1_Kinetic Means; JCA_1_Force Support; JCA_5.3_Planning
Modernization Areas:
Autonomy; AI and Machine Learning
Communities of Interest:
Autonomy
Descriptor(s):
*MATHEMATICAL MODELS, *CONTROL, *ROBOTS, *MANIPULATORS, LINEAR SYSTEMS, ROBOTICS, COMPUTATIONS, LITERATURE SURVEYS, SENSITIVITY, ERRORS
Field(s)/Group(s):
Numerical Mathematics
Keyword(s):
Robust controls
Report Date:
1983 Mar 07