Accession Number : ADA129365
Title : Robot Manipulator Control.
Descriptive Note : Technical rept.,
Corporate Author : OFFICE OF NAVAL RESEARCH LONDON (ENGLAND)
Personal Author(s) : Blackburn,J F
Report Date : 07 Mar 1983
Pagination or Media Count : 15
Abstract : This report presents a synthetic approach for calculating the control of robot manipulators. The initial control problem is broken down into linear control and modelling problems. The approach allows derivation of numerous schemes (adaptive or not) of control proposed in the literature and suggests new schemes. It is shown that the problem of modelling is difficult but is less crucial if one can synthesize robust controls that are not sensitive to errors of modelling.
Descriptors : *MATHEMATICAL MODELS , *CONTROL , *ROBOTS , *MANIPULATORS , LINEAR SYSTEMS , ROBOTICS , COMPUTATIONS , LITERATURE SURVEYS , SENSITIVITY , ERRORS
Subject Categories : Numerical Mathematics
Distribution Statement : APPROVED FOR PUBLIC RELEASE