{"title":"约束机器人系统的模型参考跟踪控制","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":"{\"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}","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}
Model reference tracking control for constrained robotic systems
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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