Experimental Evaluation of Feedforward and Computed Torque Control

IEEE Transactions on Robotics and Automation

Volumn 5, Issue 3, 1989, Pages 368-373

  Atkeson, C G ^b   Griffiths, J D ^b   Hollerbach, J M ^b  

^a IBM T J WATSON RESEARCH CENTER   (United States)

^b MASSACHUSETTS INSTITUTE OF TECHNOLOGY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

CONTROL SYSTEMS; CONTROL, MECHANICAL VARIABLES--TORQUES;

COMPUTED TORQUE CONTROL; FEEDFORWARD CONTROL; MIT SERIAL LINK DIRECT DRIVE ARM; TRAJECTORY TRACKING ERRORS;

ROBOTS, INDUSTRIAL;

EID: 0024683538     PISSN: 1042296X     EISSN: None     Source Type: Journal    
DOI: 10.1109/70.34773     Document Type: Article

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