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Manual control approach to the teaching of a robot task

✍ Scribed by Ikeura, R.; Inooka, H.


Book ID
114550582
Publisher
Institute of Electrical and Electronics Engineers
Year
1994
Weight
691 KB
Volume
24
Category
Article
ISSN
0018-9472

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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