Re-definition of the robot motion control problem: Effects of plant dynamics, drive system constraints, and user requirements

@article{Sweet1984RedefinitionOT,
  title={Re-definition of the robot motion control problem: Effects of plant dynamics, drive system constraints, and user requirements},
  author={Larry Sweet and Malcolm Good},
  journal={The 23rd IEEE Conference on Decision and Control},
  year={1984},
  pages={724-732}
}
The objective of this paper is a redefinition of the robot control problem, based on realistic (1) models for the industrial robot as a controlled plant, (2) end effector trajectories consistent with manufacturing applications, and (3) the need for end-effector sensing to compensate for uncertainties inherent to most robotic manufacturing applications. Based on extensive analytical and experimental studies, realistic robot dynamic models are presented that have been validated over the frequency… CONTINUE READING
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