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Configuration Space Control

Author(s)
Horn, Berthold K.P.; Raibert, Marc H.
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Abstract
Complicated systems with non-linear time-varying behavior are difficult to control using classical linear feedback methods applied separately to individual degrees of freedom. At the present, mechanical manipulators, for example, are limited in their rate of movement by the inability of traditional feedback systems to deal with time-varying inertia, torque coupling effects between links and Coriolis forces. Analysis of the dynamics of such systems, however, provides the basic information needed to achieve adequate control.
Date issued
1977-12-01
URI
http://hdl.handle.net/1721.1/6284
Other identifiers
AIM-458
Series/Report no.
AIM-458

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  • AI Memos (1959 - 2004)

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