Pole Placement Methods for Multivariable Control of Robotic Manipulators

[+] Author and Article Information
R. J. Norcross

National Bureau of Standards, Gaithersburg, Maryland 20899

J. C. Wang

College of Engineering, Idaho State University, Pocatello, Idaho 83209

B. C. McInnis, L. S. Shieh

Department of Electrical Engineering, University of Houston-University Park, Houston, Texas 77004

J. Dyn. Sys., Meas., Control 108(4), 340-345 (Dec 01, 1986) (6 pages) doi:10.1115/1.3143804 History: Received July 25, 1986; Online July 21, 2009


Efficient methods for multivariable digital control of robotic manipulators based upon pole placement by state feedback are presented as an improved method of path control. Implementation of these methods by both gain scheduling and on-line computation is discussed. An example of the computations for a three-link robot arm and computer simulation experiments are given.

Copyright © 1986 by ASME
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