Robust control of robot manipulators based on dynamics decomposition

IEEE Transactions on Robotics and Automation

Volumn 13, Issue 5, 1997, Pages 783-789

  Liu, Guangjun ^a   Goldenberg, Andrew A ^b  

^a Allied Signal Aerospace Canada   (Canada)

^b UNIVERSITY OF TORONTO   (Canada)

Author keywords

Robot control; Robust control; Saturation control

Indexed keywords

CONTROL SYSTEM SYNTHESIS; DYNAMICS; FRICTION; MANIPULATORS; MATHEMATICAL MODELS; MATRIX ALGEBRA; ROBOTIC ARMS; ROBUSTNESS (CONTROL SYSTEMS);

CLOSED LOOP ROBOT SYSTEM; DIRECT DRIVE ROBOT ARM; ROBOT MANIPULATORS; SATURATION CONTROL;

ROBOTS;

EID: 0031257055     PISSN: 1042296X     EISSN: None     Source Type: Journal    
DOI: 10.1109/70.631240     Document Type: Article

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