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 |
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Format: | article |
Langue: | EN |
Publié: |
Wiley
2022
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Sujets: | |
Accès en ligne: | https://doaj.org/article/7f5c2dc8d4f04fc390d11c73ea3dc8c4 |
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