Showing papers by "N.H. McClamroch published in 1985"
01 Dec 1985
TL;DR: In this paper, a general mathematical model for a robot, where each link is driven by an electrohydraulic servo motor, is developed, and definitions for compliance of the end-effector of the robot due to changes in the external load on the end effector are defined.
Abstract: A general mathematical model for a robot, where each link is driven by an electrohydraulic servo motor, is developed. Based on this model, definitions for compliance of the end effector of the robot due to changes in the external load on the end effector are defined. Both global and local and dynamic and static compliance definitions are introduced. A formula for the closed loop local, static compliance of the end effector is derived in terms of the robot parameters, the hydraulic leakage parameters, and the feed-back gains. Design limits to this compliance are determined explicitly by the hydraulic stiffness parameters. It is shown that effective feedback control design involves consideration of a tradeoff between closed loop response properties and closed loop end effector compliance.
1 citations
TL;DR: In this article, a linear estimation problem for a stochastic process viewed as the output signal of a linear second-order vector difference equation (VDE) driven by a white-noise input is considered.
Abstract: This note considers a linear estimation problem for a stochastic process viewed as the output signal of a linear second-order vector difference equation (VDE) driven by a white-noise input. An innovations approach is applied directly to develop the one-stage prediction estimator and associated error covariances. It is shown that the estimator can be expressed as a second-order recursion that preserves the mathematical structure of the given signal model with innovations feedback loops. It is also shown that the innovations can be computed through a first-order recursion in terms of one-stage prediction estimates and the measurements.