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Self-tuning control of robot manipulators

✍ Scribed by Salvatore Nicosia; Patrizio Tomei


Publisher
John Wiley and Sons
Year
1993
Tongue
English
Weight
403 KB
Volume
7
Category
Article
ISSN
0890-6327

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The tracking problem is considered for robot manipulators. We propose a state feedback control algorithm which guarantees arbitrary attenuation on the outputs (the joint positions) of the effects of unknown timevarying disturbances as well as of parameter uncertainties.

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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

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