DISCRETE-TIME ROBUST CONTROL FOR ROBOT-MANIPULATOR
The problem of robot-manipulator control is considered under uncertainty in robot dynamic parameters and input noise. The linear discrete-time regulator is proposed for desired motion stabilization of robot-manipulator. It is shown that decreasing the sampling time it is possible to make the trackin...
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| Format: | Article |
| Language: | English |
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Saint Petersburg National Research University of Information Technologies, Mechanics and Optics (ITMO University)
2013-01-01
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| Series: | Naučno-tehničeskij Vestnik Informacionnyh Tehnologij, Mehaniki i Optiki |
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| Online Access: | http://openbooks.ifmo.ru/read_ntv/4048/4048.pdf |
| _version_ | 1819179085208748032 |
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| author | S. V. Gusev |
| author_facet | S. V. Gusev |
| author_sort | S. V. Gusev |
| collection | DOAJ |
| description | The problem of robot-manipulator control is considered under uncertainty in robot dynamic parameters and input noise. The linear discrete-time regulator is proposed for desired motion stabilization of robot-manipulator. It is shown that decreasing the sampling time it is possible to make the tracking error as small as necessary. |
| first_indexed | 2024-12-22T21:52:50Z |
| format | Article |
| id | doaj.art-f968306bf22e4517ba6f59bc33c3523d |
| institution | Directory Open Access Journal |
| issn | 2226-1494 2500-0373 |
| language | English |
| last_indexed | 2024-12-22T21:52:50Z |
| publishDate | 2013-01-01 |
| publisher | Saint Petersburg National Research University of Information Technologies, Mechanics and Optics (ITMO University) |
| record_format | Article |
| series | Naučno-tehničeskij Vestnik Informacionnyh Tehnologij, Mehaniki i Optiki |
| spelling | doaj.art-f968306bf22e4517ba6f59bc33c3523d2022-12-21T18:11:19ZengSaint Petersburg National Research University of Information Technologies, Mechanics and Optics (ITMO University)Naučno-tehničeskij Vestnik Informacionnyh Tehnologij, Mehaniki i Optiki2226-14942500-03732013-01-011313840DISCRETE-TIME ROBUST CONTROL FOR ROBOT-MANIPULATORS. V. GusevThe problem of robot-manipulator control is considered under uncertainty in robot dynamic parameters and input noise. The linear discrete-time regulator is proposed for desired motion stabilization of robot-manipulator. It is shown that decreasing the sampling time it is possible to make the tracking error as small as necessary.http://openbooks.ifmo.ru/read_ntv/4048/4048.pdfrobot-manipulatorrobust controllinear regulatordiscrete time |
| spellingShingle | S. V. Gusev DISCRETE-TIME ROBUST CONTROL FOR ROBOT-MANIPULATOR Naučno-tehničeskij Vestnik Informacionnyh Tehnologij, Mehaniki i Optiki robot-manipulator robust control linear regulator discrete time |
| title | DISCRETE-TIME ROBUST CONTROL FOR ROBOT-MANIPULATOR |
| title_full | DISCRETE-TIME ROBUST CONTROL FOR ROBOT-MANIPULATOR |
| title_fullStr | DISCRETE-TIME ROBUST CONTROL FOR ROBOT-MANIPULATOR |
| title_full_unstemmed | DISCRETE-TIME ROBUST CONTROL FOR ROBOT-MANIPULATOR |
| title_short | DISCRETE-TIME ROBUST CONTROL FOR ROBOT-MANIPULATOR |
| title_sort | discrete time robust control for robot manipulator |
| topic | robot-manipulator robust control linear regulator discrete time |
| url | http://openbooks.ifmo.ru/read_ntv/4048/4048.pdf |
| work_keys_str_mv | AT svgusev discretetimerobustcontrolforrobotmanipulator |