Robot trajectory control system design for multiple simultaneous specifications: Theory and experimentation

Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME

Volumn 120, Issue 4, 1998, Pages 520-523

  Liu, Hugh H T ^a   Mills, James K ^a  

^a UNIVERSITY OF TORONTO   (Canada)

Author keywords

[No Author keywords available]

Indexed keywords

CONTROL SYSTEM SYNTHESIS; MOTION CONTROL; POSITION CONTROL; ROBOTICS;

ROBOT TRAJECTORY CONTROL;

MOTION PLANNING;

EID: 0032289178     PISSN: 00220434     EISSN: 15289028     Source Type: Journal    
DOI: 10.1115/1.2801495     Document Type: Article

References (8)

1. ANSI/R1A. R15.05-2-1992; “Path Related and Dynamic Performance Characteristics—Evaluation,” American National Standard Institution, Inc., 1992.
2. Arimoto, S., and Miyazaki, F., 1984, “Stability and Robustness of PID Feedback Control for Robot Manipulators of Sensory Capability.” Robotics Research: The First International Symposium.
3. Asada, H., and Slotine, J.-J., 1986, Robot Analysis and Control, Wiley, New York.
4. Boyd, S., and Barratt, C., 1991, Linear Controller Design: Limits of Performance, Prentice-Hall.
5. Liu, H. T., and Mills, J. K., 1998, “Robustness of Robot Tracking Control with Feedback Linearization,” International Conference on Intelligent Systems and Control, page (accepted).
6. Mills, J., Baines, P., Chang, T., Chew, S., Jones, T., Lam, S., and Rabadi, A., “Development of a Robot Control Test Platform,” IEEE Robotics & Automation Magazine, Dec., pp, 21-28.
7. Slotine, J.-J., and Li, W., 1991, Applied Nonlinear Control, Prentice-Hall.
8. Spong, M., and Vidyasagar, M., 1989, Robot Dynamics and Conrol, J Wiley.