June 3, 1998

A Simplified Cartesian-Computed Torque Controller for Highly Geared Systems and Its Application to an Experimental Climbing Robot

Puntos clave

Los puntos clave no están disponibles para este artículo en este momento.

Resumen

A simplified Cartesian computed torque (SCCT) control scheme and its application to an experimental climbing robot named LIBRA is presented. SCCT control is developed exploiting some of the characteristics of highly geared mobile robots. The effectiveness of the method is shown by simulation and experimental results using the LIBRA robot. SCCT control is shown to have improved performance, over traditional Jacobian transpose control, for the LIBRA multilimbed robot. S0022-0434(00)03501-2

Me gusta

Guardar

Cite This Study

Bevly et al. (Wed,) studied this question.

synapsesocial.com/papers/6a20eeffc9150832be1815b1 https://doi.org/https://doi.org/10.1115/1.482425

Also Consider

Synapse has enriched 5 closely related papers on similar clinical questions. Consider them for comparative context:

Me gusta

Guardar