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Robot-Arm Dynamic Control by ComputerFeedforward and feedback schemes linearize responses to control inputs. Method for control of robot arm based on computed nonlinear feedback and state tranformations to linearize system and decouple robot end-effector motions along each of cartesian axes augmented with optimal scheme for correction of errors in workspace. Major new feature of control method is: optimal error-correction loop directly operates on task level and not on joint-servocontrol level.
Document ID
19870000317
Acquisition Source
Legacy CDMS
Document Type
Other - NASA Tech Brief
Authors
Bejczy, Antal K. (Jet Propulsion Lab., California Inst. of Tech., Pasadena.)
Tarn, Tzyh J. (Washington University)
Chen, Yilong J. (General Motors Corp.)
Date Acquired
August 13, 2013
Publication Date
July 1, 1987
Publication Information
Publication: NASA Tech Briefs
Volume: 11
Issue: 7
ISSN: 0145-319X
Subject Category
Electronic Systems
Report/Patent Number
NPO-16742
Accession Number
87B10317
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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