A simplified Cartesian-computed torque controller for highly geared systems and its application to an experimental climbing robot

被引：37

作者：

Bevly, D

Dubowsky, S

Mavroidis, C

机构：

[1] MIT, Dept Mech Engn, Cambridge, MA 02139 USA

[2] Rutgers State Univ, Dept Mech & Aerosp Engn, Piscataway, NJ 08854 USA

来源：

JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME | 2000年 / 122卷 / 01期

关键词：

D O I：

10.1115/1.482425

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A simplified Cartesian computed torque (SCCT) control scheme and its application to an experimental climbing robot named LIBRA is presented. SCCT control is developed exploiting some of the characteristics of highly geared mobile robots. The effectiveness of the method is shown by simulation and experimental results using the LIBRA robot. SCCT control is shown to have improved performance, over traditional Jacobian transpose control, for the LIBRA multilimbed robot.

引用

页码：27 / 32

页数：6

共 25 条

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ARGAEZ DA, 1993, THESIS MIT CAMBRIDGE

[2]

CELAYA E, 1996, P IEEE INT C ROBOTIC, V4, P2731

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