{"title":"Model reference tracking control for constrained robotic systems","authors":"E. Jarzębowska","doi":"10.1109/ROMOCO.2002.1177101","DOIUrl":null,"url":null,"abstract":"The paper presents the development of a tracking controller for robotic systems with constraints of arbitrary order and types. Specifically, we define robot tasks by constraints, which are referred to as program constraints. A dynamic model of motion according to constraints is referred to as a reference program motion model. Based on the reference model the tracking controller has been designed.","PeriodicalId":213750,"journal":{"name":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","volume":"17 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2002-11-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the Third International Workshop on Robot Motion and Control, 2002. RoMoCo '02.","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROMOCO.2002.1177101","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 3
Abstract
The paper presents the development of a tracking controller for robotic systems with constraints of arbitrary order and types. Specifically, we define robot tasks by constraints, which are referred to as program constraints. A dynamic model of motion according to constraints is referred to as a reference program motion model. Based on the reference model the tracking controller has been designed.
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