Robust control of a 3-DOF hybrid robot manipulator
โ Scribed by Bing Zhou; Yan Xu
- Book ID
- 105851727
- Publisher
- Springer
- Year
- 2006
- Tongue
- English
- Weight
- 218 KB
- Volume
- 33
- Category
- Article
- ISSN
- 0268-3768
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In this paper the problem of robust tracking for robot manipulators in the presence of uncertainty and input constraints is studied. Using the theory of uncertain dynamical systems, robust non-linear control strategies, with guaranteed tracking properties that can be quantified given bounds on the e
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