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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| Main Authors: | , , |
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| Format: | article |
| Language: | EN |
| Published: |
Wiley
2022
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| Subjects: | |
| Online Access: | https://doaj.org/article/7f5c2dc8d4f04fc390d11c73ea3dc8c4 |
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