论文信息 - Generalised command matching for a robot gripping an inertial load

Generalised command matching for a robot gripping an inertial load

The problem of controlling a robot with end effector rigidly gripping an inertial load is studied using the generalised command-matching technique via proportional state feedback. In particular, the necessary and sufficient conditions for the problem to have a solution are established and the general analytical expressions of the controller matrices are derived. Structural properties of the resulting closed-loop system are also investigated.

P. N. Paraskevopoulos | F. N. Koumboulis | K. G. Tzierakis

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