System Maintenance:
There may be intermittent impact on performance while updates are in progress. We apologize for the inconvenience.
By Topic

On the interactive design of control systems for robotic manipulators

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

1 Author(s)
Goldenberg, A.A. ; University of Toronto, Toronto, Ontario, Canada

An approach to the interactive design of control systems for robotic manipulators is presented. The approach is based on the "inverse problem" technique, a linear state feedback of the joint servomechanism and a disturbance rejection technique. The approach is a step-by-step procedure which is part of a computer aided design (CAD) package for robotic manipulators. In this paper, the procedure is described and applied to the analysis of motion of a six degree of freedom manipulator which performs a welding operation.

Published in:

Decision and Control, 1983. The 22nd IEEE Conference on

Date of Conference:

- Dec. 1983