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dc.contributor.authorWu, SLen_US
dc.contributor.authorLin, SKen_US
dc.date.accessioned2014-12-08T15:01:43Z-
dc.date.available2014-12-08T15:01:43Z-
dc.date.issued1997-06-01en_US
dc.identifier.issn0967-0661en_US
dc.identifier.urihttp://dx.doi.org/10.1016/S0967-0661(97)00063-4en_US
dc.identifier.urihttp://hdl.handle.net/11536/499-
dc.description.abstractThe damped least-squares method has frequently been used to solve the singularity problem of resolved-acceleration control schemes. It works by damping only the joint accelerations, so that the joint accelerations in the degenerated directions (the end-effector cannot move along these directions) are zero at a singular point. However, the joint velocities in the degenerated directions may be nonzero in some situations, in which case they will create fluctuations around the singular point. In this paper, a damped-rate resolved-acceleration control scheme (DRRAC) is proposed to overcome this drawback. The paper also shows that the DRRAC is asymptotically stable, and its convergent property is discussed. Experiments were undertaken to verify the proposed control scheme. Copyright (C) 1997 Elsevier Science Ltd.en_US
dc.language.isoen_USen_US
dc.subjectrobot controlen_US
dc.subjectresolved-acceleration controlen_US
dc.subjectsingularitiesen_US
dc.subjectdamped least-squares methoden_US
dc.titleImplementation of damped-rate resolved-acceleration robot controlen_US
dc.typeArticleen_US
dc.identifier.doi10.1016/S0967-0661(97)00063-4en_US
dc.identifier.journalCONTROL ENGINEERING PRACTICEen_US
dc.citation.volume5en_US
dc.citation.issue6en_US
dc.citation.spage791en_US
dc.citation.epage800en_US
dc.contributor.department交大名義發表zh_TW
dc.contributor.department電控工程研究所zh_TW
dc.contributor.departmentNational Chiao Tung Universityen_US
dc.contributor.departmentInstitute of Electrical and Control Engineeringen_US
dc.identifier.wosnumberWOS:A1997XG61700006-
dc.citation.woscount2-
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