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Feedback Stabilization of a Torque Controlled Rigid Robot Corrupted by Noise

✍ Scribed by Patrick Florchinger


Book ID
110262910
Publisher
Springer
Year
2000
Tongue
English
Weight
55 KB
Volume
10
Category
Article
ISSN
0925-4668

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In this paper we propose a sliding manifold approach to the control of rigid robotic manipulators. We design a PD feedback controller via singular perturbation theory which guarantees the tracking of a reference trajectory. The control signal tends during a fast transient to the well-defined equival