Institutional Repository
Technical University of Crete
Technical University of Crete
EN
|
EL
| URI | http://purl.tuc.gr/dl/dias/5954E8B7-B0F6-4C5A-9E37-14C4B36FC94A | - |
| Identifier | https://doi.org/10.1016/0921-8890(95)00008-4 | - |
| Language | en | - |
| Extent | 11 pages | en |
| Title | On line discrete-time control of industrial robots | en |
| Creator | Tzafestas, S. G | en |
| Creator | Stavrakakis Georgios | en |
| Creator | Σταυρακακης Γεωργιος | el |
| Creator | A. Zagorianos | en |
| Publisher | Elsevier | en |
| Content Summary | A recent discrete-time robotic model is employed and linearized to develop three different LQ-type robot controllers. These controllers are: optimal time-varying linear-quadratic controller (OTVLQ), OTVLQ controller with steady-state error elimination, and one-step ahead optimal LQ controller. These controllers require moderate computational effort and are offered for microprocessor-based implementation. Experimental results on a KUKA IR 160/15 robotic model verified the success and efficiency of the controllers. | en |
| Type of Item | Peer-Reviewed Journal Publication | en |
| Type of Item | Δημοσίευση σε Περιοδικό με Κριτές | el |
| License | http://creativecommons.org/licenses/by/4.0/ | en |
| Date of Item | 2015-10-14 | - |
| Date of Publication | 1995 | - |
| Subject | Robot control | en |
| Subject | robots control systems | en |
| Subject | robot control | en |
| Bibliographic Citation | A. Zagorianos, Spyros G. Tzafestas, G.S. Stavrakakis," On line discrete-time control of industrial robots ,"Rob. and Auton. Systems, vol. 14, no.4, pp.289–299,Ju.1995.doi:10.1016/0921-8890(95)00008-4 | en |
Copyright © DIAS 2013
