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Robotic Systems pp 183–191Cite as

Command Matching for a Constraint Robot System

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Part of the book series: Microprocessor-Based and Intelligent Systems Engineering ((ISCA,volume 10))

Abstract

In this paper, the problem of controlling a robot with end effector rigidly gripping an inertial load is studied using the command matching technique via proportional state feedback. The necessary and sufficient conditions for the problem to have a solution are established and the general analytical expressions of the controller matrices are derived. The stability properties of the resulting closed-loop system are also investigated.

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References

  1. D. L. Pieper, “The kinematics of manipulators under computer control,” Stanford Artificial Intelligence Project, Stanford CA, Memo. AIM-72, 1968.

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  2. R. P. Paul, B. Shimano and G. E. Mayer. “Kinematic control equations for simple manipulators,” IEEE Trans. Syst. Man Cybern., vol. SMC-11, no. 6, pp. 456–460, 1981.

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  3. A. A. Goldenberg, B. Benhabib and R.G. Fenton, “A complete generalized solution to the inverse kinematics of robot,” IEEE J. Robot. Autom., vol. RA-1, no. 1, pp. 14–20, 1985.

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  4. J. Denavit and R. S. Hatenberg, “A kinematic notation for lower-pair mechanisms based on matrices,” ASME J. Appl. Mech., pp.215–221, 1955.

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Author information

Authors and Affiliations

  1. Division of Computer Science, Department of Electrical Engineering, National Technical University of Athens, 15773, Zographou, Athens, Greece

    P. N. Paraskevopoulos, F. N. Koumboulis & K. G. Tzierakis

Authors
  1. P. N. Paraskevopoulos
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  2. F. N. Koumboulis
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  3. K. G. Tzierakis
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Editor information

Editors and Affiliations

  1. Department of Electrical and Computer Engineering, National Technical University of Athens, Athens, Greece

    Spyros G. Tzafestas

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© 1992 Springer Science+Business Media Dordrecht

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Paraskevopoulos, P.N., Koumboulis, F.N., Tzierakis, K.G. (1992). Command Matching for a Constraint Robot System. In: Tzafestas, S.G. (eds) Robotic Systems. Microprocessor-Based and Intelligent Systems Engineering, vol 10. Springer, Dordrecht. https://doi.org/10.1007/978-94-011-2526-0_22

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  • DOI: https://doi.org/10.1007/978-94-011-2526-0_22

  • Publisher Name: Springer, Dordrecht

  • Print ISBN: 978-94-010-5115-6

  • Online ISBN: 978-94-011-2526-0

  • eBook Packages: Springer Book Archive

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