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- W2642568069 abstract "Abstract Nonlinear feedback with diffeomorphic state transformation is proposed for dynamic control of robot arms. This new dynamic control method externally (or exactly) linearizes the whole system and provides simultaneous output decoupling. To render the control robust, the nonlinear feedback is augmented with optimal error correcting controller which operates on the error in the task space. Several computer simulations were performed using the JPL-Stanford robot arm as an example to evaluate the performance of the new dynamic control method. The simulations show very good tracking performance and are discussed in some detail together with the characteristics of the non-linear feedback controller. A key feature of this new dynamic control method is that the control system parameters do not need readjustment from task to task. In that sense this controller is “intelligent” since it is capable of directly responding to changing task cocmands." @default.
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- W2642568069 date "1985-11-01" @default.
- W2642568069 modified "2023-10-02" @default.
- W2642568069 title "Robust Robot Arm Control with Nonlinear Feedback" @default.
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