Control of a high precision macro-micro robotic manipulator system

被引：0
|
作者：
Cho, W
机构：
[1] Dept. of Control and Instrumentation, Institute of New Technology, Kwangwoon University, Seoul
来源：
KSME INTERNATIONAL JOURNAL | 1997年 / 11卷 / 01期
关键词：
MAMI robotic system; feedback linearization;
D O I：
10.1007/BF02945224
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
A controller for macro-micro robotic manipulator system in which kinematically independent two robotic sub-systems work together to improve the accuracy of the motion is proposed. A nonlinear feedback linearization scheme is employed as basic architecture for the controller and additional formulations about the controller structure are made to assure the robustness of the overall control action and to restrict the motion of micro sub-system close to its nominal position without causing saturation of joints associated with micro-robot.
引用
收藏
页码：29 / 44
页数：16
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