Control of Manipulation Robots

Fundamentals of Robot Technology

“…Other texts on analysis and control are Coiffet (1983), Vukobratovic and Potkonjak (1982), and Vukobratovic and Stokic (1982). Books on this subject are almost invariably heavy going except for the mathematically inclined.…”

Decentralised control for complex systems - an invited survey

“…This class of large-scale interconnected systems is representative of systems which widely exist in the real world (Sundareshan and Elbanna, 1991) such as the multi-machine power system discussed in Mohadjer and Johnson (1983) and industrial robot manipulators considered in Vukabratovic and Stokic (1982). The formulation has thus been extensively studied, and many results have been achieved, for example, Liu (1992), Yang and Zhang (1995) and Huang et al (1999).…”

Synthesis of Control Systems for Manipulators Using Multivariable Robust Servomechanism Theory

“…In this section we briefly describe the overall control scheme, which is the standard one of splitting the problem up into a nominal (or global) part and a linear part; see, for example, Vukobratovic and Stokic (1982). We also indicate the uncertainties in the dynamics that arise in the process.…”

“…The outputs (and therefore the inputs) are subject to large excursions. Various methods for resolving these issues are described in the literature; see, for example, Freund (1982), Vukobratovic and Stokic (1982), and Khatib ( 1983).…”

“…In Section 3, we describe the overall control approach, which is the standard one of splitting the problem into two parts: a nominal (or global) part and a linear part (linearized about the nominal); a similar approach is taken in Vukobratovic and Stokic (1982). We also point out the origin and nature of the uncertainties (or disturbances) that arise in this approach.…”