Abstract
Comments on the application to rigid link manipulators of geometric control theory, resolved acceleration control, operational space control, and nonlinear decoupling theory are given, and the essential unity of these techniques for externally linearizing and decoupling end effector dynamics is discussed. Exploiting the fact that the mass matrix of a rigid link manipulator is positive definite, and the fact that there is an independent input for each degree of freedom, it is shown that a necessary and sufficient condition for a locally externally linearizing and output decoupling feedback law to exist is that the end effector Jacobian matrix be nonsingular.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
Keywords
Decoupling (probability)Control theory (sociology)Invertible matrixJacobian matrix and determinantNonlinear systemLinearizationMathematicsComputer scienceControl engineeringControl (management)EngineeringArtificial intelligencePhysicsApplied mathematicsPure mathematics
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Publication Info
- Year
- 1989
- Type
- article
- Volume
- 34
- Issue
- 7
- Pages
- 763-767
- Citations
- 93
- Access
- Closed
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Cite This
K. Kreutz
(1989).
On manipulator control by exact linearization.
IEEE Transactions on Automatic Control
, 34
(7)
, 763-767.
https://doi.org/10.1109/9.29408
Identifiers
- DOI
- 10.1109/9.29408