Time-optimal computed-torque control in contact transitions
Date
Authors
Type
folyóiratcikk
Publisher
Budapest University of Technology and Economics
Reading access rights:
Open access
ISSN, e-ISSN
0324-6051
1587-379x
1587-379x
Periodical Number
1
Periodical Volume
56
Container Title
Periodica Polytechnica - Mechanical Engineering
Version
Kiadói változat
First Page
43
Subject (OSZKAR)
contact transition
piecewise-linear system
computed-torque
bang-bang
piecewise-linear system
computed-torque
bang-bang
Gender
Tudományos cikk
- Cite this item
- http://hdl.handle.net/10890/4851
OOC works
Abstract
The simple mechanical model of an approach-and-touch control procedure is discussed. The aim is to find an appropriate control strategy to approach the target surface, handle the contact transitions and apply the desired force on the contact surface. In the control loop, position and force feedback is present; the absolute position of the target surface is only available for the controller with limited accuracy.