Gravity compensation and optimal control of actuated multibody system dynamics

Abstract This work investigates the gravity compensation topic, from a control perspective. The gravity could be levelled by a compensating mechanical system or in the control law, such as proportional derivative (PD) plus gravity, sliding mode control, or computed torque method. The gravity compens...

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Auteurs principaux: Saeed Rafee Nekoo, José Ángel Acosta, Anibal Ollero
Format: article
Langue:EN
Publié: Wiley 2022
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Accès en ligne:https://doaj.org/article/7f5c2dc8d4f04fc390d11c73ea3dc8c4
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