Alocomotino Control Algorithm for Robotic Linkage Systems
Abstract
This dissertation describes the development of a control algorithm that transitions a robotic linkage system between stabilized states producing responsive locomotion. The developed algorithm is demonstrated using a simple robotic construction consisting of a few links with actuation and sensing at each joint. Numerical and experimental validation is presented.
- Authors:
-
- Univ. of New Mexico, Albuquerque, NM (United States)
- Publication Date:
- Research Org.:
- Sandia National Lab. (SNL-NM), Albuquerque, NM (United States)
- Sponsoring Org.:
- USDOE National Nuclear Security Administration (NNSA)
- OSTI Identifier:
- 1331362
- Report Number(s):
- SAND2016-11036T
648781
- DOE Contract Number:
- AC04-94AL85000
- Resource Type:
- Thesis/Dissertation
- Country of Publication:
- United States
- Language:
- English
- Subject:
- 97 MATHEMATICS AND COMPUTING
Citation Formats
Dohner, Jeffrey L. Alocomotino Control Algorithm for Robotic Linkage Systems. United States: N. p., 2016.
Web.
Dohner, Jeffrey L. Alocomotino Control Algorithm for Robotic Linkage Systems. United States.
Dohner, Jeffrey L. 2016.
"Alocomotino Control Algorithm for Robotic Linkage Systems". United States.
@article{osti_1331362,
title = {Alocomotino Control Algorithm for Robotic Linkage Systems},
author = {Dohner, Jeffrey L.},
abstractNote = {This dissertation describes the development of a control algorithm that transitions a robotic linkage system between stabilized states producing responsive locomotion. The developed algorithm is demonstrated using a simple robotic construction consisting of a few links with actuation and sensing at each joint. Numerical and experimental validation is presented.},
doi = {},
url = {https://www.osti.gov/biblio/1331362},
journal = {},
number = ,
volume = ,
place = {United States},
year = {Sat Oct 01 00:00:00 EDT 2016},
month = {Sat Oct 01 00:00:00 EDT 2016}
}
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