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Mutual Synchronization of Multiple Robot Manipulators with Unknown Dynamics

โœ Scribed by Rongxin Cui, Weisheng Yan


Book ID
118801103
Publisher
Springer Netherlands
Year
2012
Tongue
English
Weight
999 KB
Volume
68
Category
Article
ISSN
0921-0296

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PD control of robot manipulators with jo
โœ R. Lozano; A. Valera; P. Albertos; S. Arimoto; T. Nakayama ๐Ÿ“‚ Article ๐Ÿ“… 1999 ๐Ÿ› Elsevier Science ๐ŸŒ English โš– 93 KB

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