By Haboush W., Parshall B. (eds.)
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Extra info for Algebraic Groups and Their Generalizations: Classical Methods, Part 1
Kinematic control as well as control concepts which are based on dynamic equa tions considering the drive moments to be the con trol inputs can be looked at along these lines . Then from the point of view of classical control engi neering the plant is considered to be the system of actuators having the links as ( time-varying and interacting ) loads . The forementioned command vari ables on their turn often are computed by applying control concepts to a ficitve second plant formed by the system of links and being driven by external forces i .
B . ( 1 985 ) Algorithms for the Active Sti ffness Control of an Elastic IMACS Congress, 1 1th Proc . Industrial Robot . Oslo , vol . 4 , 1 7-22 . ( 1987 ) . J. J. Kalker , Flexible Links : Dynamics , Control and Stability. Ing . Archiv 5 7 , 16-24 . On the Control of Manipulator ( 1 985 ) . P . Karkkainen Flexible Motion by Modal-Space Techniques . Acta Polytechnica Scand . L_Maths . · 44 _,_ 2-89 . J . , Gouri shankar , V . G . and Rink , R . E . ( 1 986 ) . King , Digital Multirate Control of Flexible-Link Mani- pulators .
Link are considered , the construction of this feed back law is rather involved and requires the solu tion of a linear partial differential equation. Additional investigations are necessary to check for robustness versus parameter uncertainties . other approaches are based on linear models for the arm being derived directly . This allows the study of structural properties such as output decoupling or feedback linearization for certain prototype robots without too much computational burden . Nevertheless , one has to be aware that such a study is either re stricted to a very special type of arm or , that such an extremely simplified model may reflect more the ideas of the modeller about the structure and struc tural properties of the system than reality .
Algebraic Groups and Their Generalizations: Classical Methods, Part 1 by Haboush W., Parshall B. (eds.)