Control of a Tendon Arm
The dynamics and control of tendon driven three degree of freedom shoulder joint are studied. A control scheme consisting of two phases has been developed. In the first phase, approximation of the time optimal control trajectory was applied open to the loop to the system. In the second phase a...
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| Language: | en_US |
| Published: |
2004
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| Online Access: | http://hdl.handle.net/1721.1/6346 |
| _version_ | 1826194497048936448 |
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| author | Lim, Kuk Huang |
| author_facet | Lim, Kuk Huang |
| author_sort | Lim, Kuk Huang |
| collection | MIT |
| description | The dynamics and control of tendon driven three degree of freedom shoulder joint are studied. A control scheme consisting of two phases has been developed. In the first phase, approximation of the time optimal control trajectory was applied open to the loop to the system. In the second phase a closed loop linear feedback law was employed to bring the system to the desired final state and to maintain it there. |
| first_indexed | 2024-09-23T09:56:43Z |
| id | mit-1721.1/6346 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T09:56:43Z |
| publishDate | 2004 |
| record_format | dspace |
| spelling | mit-1721.1/63462019-04-10T18:32:40Z Control of a Tendon Arm Lim, Kuk Huang The dynamics and control of tendon driven three degree of freedom shoulder joint are studied. A control scheme consisting of two phases has been developed. In the first phase, approximation of the time optimal control trajectory was applied open to the loop to the system. In the second phase a closed loop linear feedback law was employed to bring the system to the desired final state and to maintain it there. 2004-10-04T14:52:32Z 2004-10-04T14:52:32Z 1981-02-01 AIM-617 http://hdl.handle.net/1721.1/6346 en_US AIM-617 23827614 bytes 17048634 bytes application/postscript application/pdf application/postscript application/pdf |
| spellingShingle | Lim, Kuk Huang Control of a Tendon Arm |
| title | Control of a Tendon Arm |
| title_full | Control of a Tendon Arm |
| title_fullStr | Control of a Tendon Arm |
| title_full_unstemmed | Control of a Tendon Arm |
| title_short | Control of a Tendon Arm |
| title_sort | control of a tendon arm |
| url | http://hdl.handle.net/1721.1/6346 |
| work_keys_str_mv | AT limkukhuang controlofatendonarm |