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- D. E. Whitney
- Massachusetts Institute of Technology, Cambridge, Mass.
書誌事項
- 公開日
- 1972-12-01
- DOI
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- 10.1115/1.3426611
- 公開者
- ASME International
この論文をさがす
説明
<jats:p>The problems of coordinated rate control and position control of multidegree-of-freedom arms are treated together in this paper. A mathematical formulation is presented which allows real time computer-assisted rate control under a variety of external coordinate systems. A new solution to the endpoint position control problem is given, allowing the arm to be driven to a final position specified in meaningful external coordinates without the corresponding final joint angles being known. Attention is given to redundant arms, to the possibility of singularities, and to the relation between this work and dynamic control of arms.</jats:p>
収録刊行物
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- Journal of Dynamic Systems, Measurement, and Control
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Journal of Dynamic Systems, Measurement, and Control 94 (4), 303-309, 1972-12-01
ASME International
