A nonlinear disturbance observer for robotic manipulators

IEEE Transactions on Industrial Electronics

Volumn 47, Issue 4, 2000, Pages 932-938

  Chen, Wen Hua ^a   Ballance, Donald J ^a   Gawthrop, Peter J ^a   O'Reilly, John ^a  

^a UNIVERSITY OF GLASGOW   (United Kingdom)

Author keywords

Friction; Nonlinear estimation; Observers; Robots

Indexed keywords

FRICTION COMPENSATION; INDEPENDENT JOINT CONTROL; NONLINEAR DISTURBANCE OBSERVER;

COMPUTER SIMULATION; CONTROL SYSTEM SYNTHESIS; FAILURE ANALYSIS; FRICTION; LINEAR CONTROL SYSTEMS; NUMERICAL ANALYSIS; OBSERVABILITY; ROBOTICS; SYSTEM STABILITY; TORQUE CONTROL; VELOCITY CONTROL;

MANIPULATORS;

EID: 0034250838     PISSN: 02780046     EISSN: None     Source Type: Journal    
DOI: 10.1109/41.857974     Document Type: Article

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