Discrete-time lqr and H2damping control of flexible payloads using a robot manipulator with a wrist-mounted force/torque sensor

ASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)

Volumn 2000-O, Issue , 2000, Pages 997-1004

  Lee, Chunhao Joseph ^a   Mavroidis, Constantinos ^a  

^a RUTGERS UNIVERSITY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

FLEXIBLE MANIPULATORS; INDUSTRIAL ROBOTS; MODULAR ROBOTS; ROBOT APPLICATIONS; STATE SPACE METHODS; TIME DOMAIN ANALYSIS;

DAMPING CONTROL; DISCRETE TIME; FLEXIBLE PAYLOADS; FORCE/TORQUE SENSOR; H2 OPTIMAL CONTROL DESIGN; OPTIMAL CONTROL METHODS; ROBOTIC SYSTEMS; ROBOTS MANIPULATORS; ROBUST CONTROL METHODS; SUPPRESS VIBRATION;

FLEXIBLE STRUCTURES;

EID: 84862722624     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1115/IMECE2000-2359     Document Type: Conference Paper

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