Nonlinear mixed control applied to manipulators via actuation redundancy
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- 作者：Adriano A.G. Siqueira ; Marco H. Terra and Benedito C.O. Maciel
- 关键词：Nonlinear mixed MHSRJ-2&_mathId=mml64&_user=10&_cdi=5703&_rdoc=3&_handle=V-WA-A-W-AB-MsSAYVW-UUA-U-AAVCBVDYVA-AAVWEWYZVA-DBCWDAEAC-AB-U&_acct=C000050221&_version=1&_userid=10&
- 刊名：Control Engineering Practice
- 出版年：2006
- 出版时间：April 2006
- 年：2006
- 卷：14
- 期：4
- 页码：327-335
- 全文大小：351 K
文摘
This paper develops a new control algorithm based on nonlinear techniques, , , and mixed via game theory for underactuated manipulators. These controllers are applied in an optimal way, via actuation redundancy, to minimize the energy consumption of the system. Results obtained from an actual manipulator robot are presented.