Time-optimal control for robotic manipulators
β Scribed by F. L. Chernousko; L. D. Akulenko; N. N. Bolotnik
- Publisher
- John Wiley and Sons
- Year
- 1989
- Tongue
- English
- Weight
- 1024 KB
- Volume
- 10
- Category
- Article
- ISSN
- 0143-2087
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## Abstract An improved variable structure modelβfollowing control scheme for rigid robotic manipulators is proposed in this paper. It is shown that the controller parameters are determined by only a few uncertain system matrix bounds. The proposed scheme results in greatly simplified controller de
Industrial robots manipulating various payloads represent non-linear and time-varying systems which should be controlled by robust adaptive controllers with self-adjustable parameters, suitable for microcomputer implementation.
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