AN INTEGRAL MANIFOLD APPROACH TO THE FEEDBACK-CONTROL OF FLEXIBLE JOINT ROBOTS

被引：271

作者：

SPONG, MW

KHORASANI, K

KOKOTOVIC, PV

机构：

[1] UNIV ILLINOIS,DEPT GEN ENGN,URBANA,IL 61801

[2] UNIV ILLINOIS,DEPT ELECT COMP ENGN,URBANA,IL 61801

[3] UNIV ILLINOIS,DEPT ELECT & COMP ENGN,URBANA,IL 61801

来源：

IEEE JOURNAL OF ROBOTICS AND AUTOMATION | 1987年 / 3卷 / 04期

关键词：

D O I：

10.1109/JRA.1987.1087102

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

引用

页码：291 / 300

页数：10

共 32 条

[1]

ABRAHAM R, 1978, F MECHANICS

[2]

BALESTRINO A, 1983, J DYN SYST MEAS CONT, V105, P14

[3]

Bejczy A. K., 1974, ROBOT ARM DYNAMICS C, P33

[4]

CESAREO G, 1984, 6TH INT C AN OPT SYS

[5] 2-TIME-SCALE FEEDBACK DESIGN OF A CLASS OF NON-LINEAR SYSTEMS [J].

CHOW, JH ;

KOKOTOVIC, PV .

[6]

ERZBERGER H, 1968, P JACC, P572

FENICHEL, N .

[8]

FICOLA A, 1983, 21ST P ANN ALL C COM

[9]

FREUND, 1982, INT J ROBOTICS RES, V1, P65

[10]

GOOD MC, 1983, DYNAMICS CONTROL ROB