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  • 标题:Surface Following Control for Fully Actuated Rigid Body Systems in Three-Dimensional Euclidean Space
  • 本地全文:下载
  • 作者:T. Glück ; T. Glück ; B. Bischof
  • 期刊名称:IFAC PapersOnLine
  • 印刷版ISSN:2405-8963
  • 出版年度:2016
  • 卷号:49
  • 期号:18
  • 页码:594-599
  • DOI:10.1016/j.ifacol.2016.10.230
  • 语种:English
  • 出版社:Elsevier
  • 摘要:Abstract: This paper presents surface following control for fully actuated rigid body systems in three-dimensional space. Transverse Feedback Linearization is used to systematically design a controller that is suitable for surfaces given by a regular threefold continuously differentiable parametrization. The strategy is verified by measurement results on a DELTA robot with linear drives.
  • 关键词:KeywordsSurface Following ControlTransverse Feedback LinearizationMoving FrameParallel Robot
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