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- W2651983503 abstract "Abstract Based on the given equations of motion of a manipulator two nonlinear time-variant continuous-time control concepts are proposed. Both concepts involve linearization of the equations of motion along the nominal trajectory. The linearization is effected by feedforward of the nominal forces which, in the absence of perturbations, would cause the robot to follow the trajectory in an ideal manner. Deviations from the reference trajectory are reduced by additional linear feedback. The time-variant feedback matrix is obtained by minimization of a quadratic performance criterion or by pole-placement for the controlled linearized system. State deviations caused by persisting perturbation forces may be reduced to zero using an augmented state vector. Space-oriented control is made possible by a linear time-variant state transformation. When a digital computer is used for implementing the control laws, the continuous force functions have to be approximated by piecewise constant functions. In this case, stability is no longer guaranteed for feedback matrices with extremely high gains." @default.
- W2651983503 created "2017-06-30" @default.
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- W2651983503 date "1986-12-01" @default.
- W2651983503 modified "2023-09-25" @default.
- W2651983503 title "Two Time-Variant Control Designs for a Manipulator: Optimal Control and Pole-Placement" @default.
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- W2651983503 doi "https://doi.org/10.1016/s1474-6670(17)59477-x" @default.
- W2651983503 hasPublicationYear "1986" @default.
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