Hybrid actuator for robot manipulators: Design, control and performance
β Scribed by James K. Mills
- Publisher
- Elsevier Science
- Year
- 1993
- Tongue
- English
- Weight
- 804 KB
- Volume
- 3
- Category
- Article
- ISSN
- 0957-4158
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π SIMILAR VOLUMES
By using the integrator backstepping technique, the control of rigid link, electrically driven robot manipulators is addressed in the presence of arbitrary uncertain manipulator inertia parameters and actuator parameters. The control scheme developed is computationally simple owing to the avoidance
This paper presents a PD controller for robot manipulator considering simultaneously joint #exibility, actuators dynamics as well as friction. The convergence analysis of the proposed PD controller is carried out using passivity. Global convergence to a desired "xed angular position is proved using