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The superposition strategy for arm trajectory modification in robotic manipulators

✍ Scribed by Gat-Falik, T.; Flash, T.


Book ID
117874472
Publisher
IEEE
Year
1999
Tongue
English
Weight
319 KB
Volume
29
Category
Article
ISSN
1083-4419

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Upper bounding estimation for robustness
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In this paper, a new robust control law is presented for robot manipulators subjected to uncertainties. Stability of the system is established by the Lyapunov function, and a control law that guaranteed the system stability is derived as a result of analytical solution. Apart from previous studies,