CONTROL OF MANIPULATORS AND WHEELED TRANSPORT ROBOTS AS SYSTEMS OF RIGID BODIES
作者： V. B. Larin
DOI: 10.1007/BF02681970
关键词:
摘要: Problems of control robots (manipulators and wheeled transport robots) that are considered as controllable systems rigid bodies with holonomic nonholonomic constraints reviewed. The basic problems arise in designing such facilities considered. Namely, the equations model motion derived, a specified trajectory is parametrized, stabilization algorithm synthesized (including linear, nonlinear, adaptive, robust controllers). Some examples given to illustrate efficiency algorithms
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