{"title":"用于机器人操作的高级控制器","authors":"J.N Anderson, A Śmiarowski Jr.","doi":"10.1016/0378-3804(89)90035-1","DOIUrl":null,"url":null,"abstract":"<div><p>Model-based control method using second-order models may be insufficient for fast digital control of robots. Therefore, a model-based control using a third-order dynamic model is introduced. It is shown that this scheme may be implemented in real-time by means of an efficient recursive algorithm. The temporal arrangements of this algorithm are discussed and a controller implementation is proposed.</p></div>","PeriodicalId":100801,"journal":{"name":"Journal of Mechanical Working Technology","volume":"20 ","pages":"Pages 251-260"},"PeriodicalIF":0.0000,"publicationDate":"1989-09-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1016/0378-3804(89)90035-1","citationCount":"3","resultStr":"{\"title\":\"An advanced controller for robotic manipulations\",\"authors\":\"J.N Anderson, A Śmiarowski Jr.\",\"doi\":\"10.1016/0378-3804(89)90035-1\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<div><p>Model-based control method using second-order models may be insufficient for fast digital control of robots. Therefore, a model-based control using a third-order dynamic model is introduced. It is shown that this scheme may be implemented in real-time by means of an efficient recursive algorithm. The temporal arrangements of this algorithm are discussed and a controller implementation is proposed.</p></div>\",\"PeriodicalId\":100801,\"journal\":{\"name\":\"Journal of Mechanical Working Technology\",\"volume\":\"20 \",\"pages\":\"Pages 251-260\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1989-09-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"https://sci-hub-pdf.com/10.1016/0378-3804(89)90035-1\",\"citationCount\":\"3\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Journal of Mechanical Working Technology\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://www.sciencedirect.com/science/article/pii/0378380489900351\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of Mechanical Working Technology","FirstCategoryId":"1085","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/0378380489900351","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Model-based control method using second-order models may be insufficient for fast digital control of robots. Therefore, a model-based control using a third-order dynamic model is introduced. It is shown that this scheme may be implemented in real-time by means of an efficient recursive algorithm. The temporal arrangements of this algorithm are discussed and a controller implementation is proposed.
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