Gravity compensation and optimal control of actuated multibody system dynamics
Abstract This work investigates the gravity compensation topic, from a control perspective. The gravity could be levelled by a compensating mechanical system or in the control law, such as proportional derivative (PD) plus gravity, sliding mode control, or computed torque method. The gravity compens...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2022-01-01
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| Series: | IET Control Theory & Applications |
| Subjects: | |
| Online Access: | https://doi.org/10.1049/cth2.12206 |