OTHER
Surface Following Control for Fully Actuated Rigid Body Systems in Three-Dimensional Euclidean Space
Tobias Glück, Bernhard Bischof, Andreas Kugi
- Year
- 2016
- Citations
- 3
Abstract
This paper presents surface following control for fully actuated rigid body systems in three-dimensional space. Transverse Feedback Linearization is used to systematically design a controller that is suitable for surfaces given by a regular threefold continuously differentiable parametrization. The strategy is verified by measurement results on a DELTA robot with linear drives.
Keywords
Rigid bodyParametrization (atmospheric modeling)Surface (topology)Control theory (sociology)Controller (irrigation)Feedback linearizationLinearizationSpace (punctuation)Euclidean spaceComputer science
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