Utilize este identificador para referenciar este registo: http://hdl.handle.net/10400.22/8844
Título: Engineering Design of a Multirate Nonlinear Controller for Robot Manipulators
Autor: Machado, J. A. Tenreiro
Carvalho, J. L. Martins de
Palavras-chave: Multirate nonlinear controller
Data: Jan-1989
Editora: John Wiley and Sons Ltd.
Relatório da Série N.º: Journal of Field Robotics;Vol. 6, Issue 1
Resumo: A new multirate nonlinear controller for robot manipulators is described. The algorithm stems from the computed torque method, but has several modifications on its structure, resulting in a more robust controller. The man philosophy behind those improvements resides on a sound engineering and management of the system resources. Consequently, the use of multirate sampling, memory tables, and predictive action arises naturally from that methodology. The resulting controller is easy to tune using standard industrial engineering practice; moreover, by alleviating the computational burden its implementation es feasible with present day microprocessors.
URI: http://hdl.handle.net/10400.22/8844
DOI: 10.1002/rob.4620060102
ISSN: 1556-4967
Versão do Editor: http://onlinelibrary.wiley.com/doi/10.1002/rob.4620060102/abstract?systemMessage=Wiley+Online+Library+will+be+unavailable+on+Saturday+17th+December+2016+at+09%3A00+GMT%2F+04%3A00+EST%2F+17%3A00+SGT+for+4hrs+due+to+essential+maintenance.Apologies+for+the+inconvenience
Aparece nas colecções:ISEP - DEE - Artigos

Ficheiros deste registo:
Ficheiro Descrição TamanhoFormato 
ART_MachadoTenreiro1_1989.pdf825,61 kBAdobe PDFVer/Abrir

FacebookTwitterDeliciousLinkedInDiggGoogle BookmarksMySpace
Formato BibTex MendeleyEndnote Degois 

Todos os registos no repositório estão protegidos por leis de copyright, com todos os direitos reservados.