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Natural motion for robot arms

Decision and Control, 1984. The 23rd IEEE Conference on

D.E. Koditschek
University of Pennsylvania

Full PDF | Penn Scholarly Commons

Abstract
This paper describes some initial steps toward the development of more natural control strategies for free motion of robot arms. The standard lumped parameter dynamical model of an open kinematic chain is shown to be stabilizable by linear feedback, after nonlinear gravitational terms have been cancelled. A new control algorithm is proposed and is shown to drive robot joint positions and velocites asymptotically toward arbitrary time-varying reference trajectories.
BibTeX entry
@INPROCEEDINGS{4047982, 
author={Dan Koditschek}, 
booktitle={Decision and Control, 1984. The 23rd IEEE Conference on}, 
title={Natural motion for robot arms}, 
year={1984}, 
month={dec. }, 
volume={23}, 
number={}, 
pages={733 -735}, 
keywords={}, 
doi={10.1109/CDC.1984.272106}, 
ISSN={},}
}

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