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《Journal of Zhejiang University(Natural Science)》 1992-01
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Optimal control for sphere joint actuator used in robots

Zhu Jing Zhang Yongkang Gao Jian(Dept. of Electrical Engineering)  
This paper put forward principles of PTP's Time-Optimal-Control ( TOC) and reconstructed cryptic-Double-Differentiate-Functional-interpolation (RCDDFI) for stepping Sphere-Joint -actuator (SJA). TOC and RCDDFI were used in SJA's FTP and CP controling. Through theory exploring, criterion defining and progam running, we found thai they had a very good controling result in actual application.
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Chinese Journal Full-text Database 10 Hits
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