NONLINEAR CONTROLLER FOR THE PUMA560.

Hanchu Li; Yacov Shamash

NONLINEAR CONTROLLER FOR THE PUMA560.

Hanchu Li
, Yacov Shamash

Electrical Engineering

Washington State University Pullman

Research output: Contribution to conference › Paper › peer-review

Abstract

A nonlinear controller for the Unimate PUMA560 is introduced, and the resulting computer simulations are presented. To simplify the discussion, the authors consider the dynamics of the first three links of the robot under the assumption that the last three links, related to the wrist, are at rest. The full set of dynamic equations for the Unimate PUMA560 are given.

Original language	English
Pages	413-416
Number of pages	4
State	Published - 1987

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title = "NONLINEAR CONTROLLER FOR THE PUMA560.",

abstract = "A nonlinear controller for the Unimate PUMA560 is introduced, and the resulting computer simulations are presented. To simplify the discussion, the authors consider the dynamics of the first three links of the robot under the assumption that the last three links, related to the wrist, are at rest. The full set of dynamic equations for the Unimate PUMA560 are given.",

author = "Hanchu Li and Yacov Shamash",

year = "1987",

language = "English",

pages = "413--416",

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TY - CONF

T1 - NONLINEAR CONTROLLER FOR THE PUMA560.

AU - Li, Hanchu

AU - Shamash, Yacov

PY - 1987

Y1 - 1987

N2 - A nonlinear controller for the Unimate PUMA560 is introduced, and the resulting computer simulations are presented. To simplify the discussion, the authors consider the dynamics of the first three links of the robot under the assumption that the last three links, related to the wrist, are at rest. The full set of dynamic equations for the Unimate PUMA560 are given.

AB - A nonlinear controller for the Unimate PUMA560 is introduced, and the resulting computer simulations are presented. To simplify the discussion, the authors consider the dynamics of the first three links of the robot under the assumption that the last three links, related to the wrist, are at rest. The full set of dynamic equations for the Unimate PUMA560 are given.

UR - https://www.scopus.com/pages/publications/0023538664

M3 - Paper

AN - SCOPUS:0023538664

SP - 413

EP - 416

ER -

NONLINEAR CONTROLLER FOR THE PUMA560.

Abstract

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