๐”– Bobbio Scriptorium
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On the robust control of robot manipulators including actuator dynamics

โœ Scribed by Su, Chun-Yi ;Stepanenko, Yury

Book ID
111989840
Publisher
John Wiley and Sons
Year
1996
Tongue
English
Weight
627 KB
Volume
13
Category
Article
ISSN
0741-2223

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๐Ÿ“œ SIMILAR VOLUMES

On robust adaptive control of robot mani
On robust adaptive control of robot manipulators
โœ Gang Tao ๐Ÿ“‚ Article ๐Ÿ“… 1992 ๐Ÿ› Elsevier Science ๐ŸŒ English โš– 434 KB

In this paper we present a robust adaptive control scheme for robot manipulators with time-varying parameters and unmodeled dynamics. Our scheme ensures that all signals in the closed-loop robot system are bounded and the tracking error is of the order of the parameter variations and unmodeled dynam

BACKSTEPPING-BASED HYBRID ADAPTIVE CONTR
BACKSTEPPING-BASED HYBRID ADAPTIVE CONTROL OF ROBOT MANIPULATORS INCORPORATING ACTUATOR DYNAMICS
โœ CHUN-YI SU; YURY STEPANENKO ๐Ÿ“‚ Article ๐Ÿ“… 1997 ๐Ÿ› John Wiley and Sons ๐ŸŒ English โš– 297 KB ๐Ÿ‘ 2 views

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