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


Full Text : http://www.dtic.mil/get-tr-doc/pdf?AD=ADA129365


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