Fundamental properties of rigid serial manipulators for control design

Y. H. Chen, Chen-Yuan Kuo

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

We investigate certain fundamental properties of serial-link mechanical manipulators, as related to the control design. The manipulator has rigid links with revolute and/or prismatic joints. These properties include the upper bounds of the inertia matrix. Coriolis and centrifugal term, and gravitational term. As an illustrative example, a robust control is proposed based on this analysis. The generic properties are also readily applicable to other control designs.

Original languageEnglish (US)
Title of host publicationProceedings of the American Control Conference
PublisherIEEE
Pages3003-3007
Number of pages5
Volume5
StatePublished - 1999
Externally publishedYes
EventProceedings of the 1999 American Control Conference (99ACC) - San Diego, CA, USA
Duration: Jun 2 1999Jun 4 1999

Other

OtherProceedings of the 1999 American Control Conference (99ACC)
CitySan Diego, CA, USA
Period6/2/996/4/99

Fingerprint

Manipulators
Robust control

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Chen, Y. H., & Kuo, C-Y. (1999). Fundamental properties of rigid serial manipulators for control design. In Proceedings of the American Control Conference (Vol. 5, pp. 3003-3007). IEEE.

Fundamental properties of rigid serial manipulators for control design. / Chen, Y. H.; Kuo, Chen-Yuan.

Proceedings of the American Control Conference. Vol. 5 IEEE, 1999. p. 3003-3007.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Chen, YH & Kuo, C-Y 1999, Fundamental properties of rigid serial manipulators for control design. in Proceedings of the American Control Conference. vol. 5, IEEE, pp. 3003-3007, Proceedings of the 1999 American Control Conference (99ACC), San Diego, CA, USA, 6/2/99.
Chen YH, Kuo C-Y. Fundamental properties of rigid serial manipulators for control design. In Proceedings of the American Control Conference. Vol. 5. IEEE. 1999. p. 3003-3007
Chen, Y. H. ; Kuo, Chen-Yuan. / Fundamental properties of rigid serial manipulators for control design. Proceedings of the American Control Conference. Vol. 5 IEEE, 1999. pp. 3003-3007
@inproceedings{a923bb5c5042423898473baa01835b4f,
title = "Fundamental properties of rigid serial manipulators for control design",
abstract = "We investigate certain fundamental properties of serial-link mechanical manipulators, as related to the control design. The manipulator has rigid links with revolute and/or prismatic joints. These properties include the upper bounds of the inertia matrix. Coriolis and centrifugal term, and gravitational term. As an illustrative example, a robust control is proposed based on this analysis. The generic properties are also readily applicable to other control designs.",
author = "Chen, {Y. H.} and Chen-Yuan Kuo",
year = "1999",
language = "English (US)",
volume = "5",
pages = "3003--3007",
booktitle = "Proceedings of the American Control Conference",
publisher = "IEEE",

}

TY - GEN

T1 - Fundamental properties of rigid serial manipulators for control design

AU - Chen, Y. H.

AU - Kuo, Chen-Yuan

PY - 1999

Y1 - 1999

N2 - We investigate certain fundamental properties of serial-link mechanical manipulators, as related to the control design. The manipulator has rigid links with revolute and/or prismatic joints. These properties include the upper bounds of the inertia matrix. Coriolis and centrifugal term, and gravitational term. As an illustrative example, a robust control is proposed based on this analysis. The generic properties are also readily applicable to other control designs.

AB - We investigate certain fundamental properties of serial-link mechanical manipulators, as related to the control design. The manipulator has rigid links with revolute and/or prismatic joints. These properties include the upper bounds of the inertia matrix. Coriolis and centrifugal term, and gravitational term. As an illustrative example, a robust control is proposed based on this analysis. The generic properties are also readily applicable to other control designs.

UR - http://www.scopus.com/inward/record.url?scp=0033283405&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0033283405&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:0033283405

VL - 5

SP - 3003

EP - 3007

BT - Proceedings of the American Control Conference

PB - IEEE

ER -