Arm trajectory planning by controlling the direction of end-point position error caused by disturbance

Abstract

The present paper proposes the control algorithm of direction of the end-point position error caused by the disturbance. Taking consideration of it, the effect of the disturbance on the end-point position is maximized in the direction of the singular vector corresponding to the maximum singular value. Therefore, if we can control the direction of the… (More)

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Cite this paper

@article{Yamawaki2008ArmTP, title={Arm trajectory planning by controlling the direction of end-point position error caused by disturbance}, author={Takashi Yamawaki and Masataka Yashima}, journal={2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics}, year={2008}, pages={1120-1125} }