A novel approach to the derivation of a discrete-time decoupling control algorithm for robotic manipulators is presented. By using previously introduced discrete-time models, linearizing and decoupling control laws are obtained directly in the discrete-time domain. Simulation results validate the effectiveness of this approach, especially with respect to the alternative one consisting in discretizing the continuous decoupling laws.

Nicosia, S., Tomei, P., Tornambe, A. (1987). Nonlinear discrete-time control algorithm for robot manipulators. In Proceedings of the IEEE Conference on Decision and Control (pp.205-210). New York, NY, USA : IEEE [10.1109/CDC.1987.272742].

Nonlinear discrete-time control algorithm for robot manipulators

Nicosia, S.;Tomei, P.;Tornambe, A.
1987-01-01

Abstract

A novel approach to the derivation of a discrete-time decoupling control algorithm for robotic manipulators is presented. By using previously introduced discrete-time models, linearizing and decoupling control laws are obtained directly in the discrete-time domain. Simulation results validate the effectiveness of this approach, especially with respect to the alternative one consisting in discretizing the continuous decoupling laws.
Proceedings of the 26th IEEE Conference on Decision and Control.
Los Angeles, CA, USA, null
IEEE, Control Systems Soc, New York, NY, USA
Rilevanza internazionale
1987
Settore ING-INF/04 - AUTOMATICA
English
Chemical Health and Safety; Control and Systems Engineering; Safety, Risk, Reliability and Quality
Intervento a convegno
Nicosia, S., Tomei, P., Tornambe, A. (1987). Nonlinear discrete-time control algorithm for robot manipulators. In Proceedings of the IEEE Conference on Decision and Control (pp.205-210). New York, NY, USA : IEEE [10.1109/CDC.1987.272742].
Nicosia, S; Tomei, P; Tornambe, A
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/2108/193833
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