Name
Abstract | ||
|---|---|---|
A discrete-time command generator that accepts position and orientation trajectories in Cartesian space and produces position, velocity, and acceleration trajectories in joint space is presented. Discrete-time command generators can be obtained from their continuous-time counterparts by using any standard numerical procedure to solve the nonlinear differential equation at a discrete set of points. However, existing numerical procedures require multiple function evaluations per input point to achieve an accurate solution. A novel technique is presented that achieves an accurate solution with only one function evaluation per input point. The application of the scheme to six degree-of-freedom manipulators is demonstrated through simulation results for a spherical-wrist robot |
Year | DOI | Venue |
|---|---|---|
1988 | 10.1109/ROBOT.1988.12137 | ICRA |
Keywords | Field | DocType |
discrete time systems,nonlinear differential equations,position control,robots,cartesian space,discrete-time robotic command generator,manipulators,nonlinear differential equation,orientation trajectories,spherical-wrist robot,computational modeling,space technology,robot control,kinematics,degree of freedom,acceleration,discrete time,nonlinear equations | Control theory,Control engineering,Nonlinear differential equations,Acceleration,Discrete time and continuous time,Robot,Mathematics,Cartesian coordinate system | Conference |
Volume | Issue | Citations |
1988 | 1 | 4 |
PageRank | References | Authors |
0.78 | 7 | 2 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Hill, S.D. | 1 | 4 | 0.78 |
| Vaccaro, R.J. | 2 | 4 | 0.78 |