UDC 684.511

© E.L. Eremin, D.A. Telichenko, E.A. Shelenok, 2010

CYCLICAL MODE IN ROBUST CONTROL SYSTEM FOR BARRETT MANIPULATOR

Solution of the problem of cyclic mode control for double-link Barrett WAM (Whole Arm Manipulator) with no periodical external noise and nonlinear parameters is considered. Solution methods are based on the employment of the fast reference model, apple pie order time invariant observer and hyper stability criterion.

Keywords: robot-manipulator, multiple connected plant, hyper stability criterion, observer

Download article (636.5 Kb)

Сontents


	Main page News Editorial staff For authors Subscription Archive Site map Russian version Search:	UDC 684.511 © E.L. Eremin, D.A. Telichenko, E.A. Shelenok, 2010 CYCLICAL MODE IN ROBUST CONTROL SYSTEM FOR BARRETT MANIPULATOR Solution of the problem of cyclic mode control for double-link Barrett WAM (Whole Arm Manipulator) with no periodical external noise and nonlinear parameters is considered. Solution methods are based on the employment of the fast reference model, apple pie order time invariant observer and hyper stability criterion. Keywords: robot-manipulator, multiple connected plant, hyper stability criterion, observer Download article (636.5 Kb) Сontents

Address: 136 Tihookeanskaya St., Apt. 113 center, Khabarovsk, 680035, Russia Phone/fax: (4212) 76-17-23, e-mail: [email protected] © 2013 Pacific National University