Robust nonlinear task space control for a 6 DOF parallel manipulator

Proceedings of the IEEE Conference on Decision and Control

Volumn 2, Issue , 2002, Pages 2062-2067

  Kim, Hag Seong ^a   Cho, Young Man ^a   Lee, Kyo Il ^a  

^a Seoul National University   (South Korea)

Author keywords

6 DOF manipulator; Alpha beta tracker; Friction estimator; Robust nonlinear task space control

Indexed keywords

CONTROL SYSTEM ANALYSIS; DEGREES OF FREEDOM (MECHANICS); FRICTION; KINEMATICS; LYAPUNOV METHODS; MANIPULATORS; ROBUSTNESS (CONTROL SYSTEMS);

ALPHA-BETA TRACKER; JOINT SPACE COORDINATES; MULTI-INPUT MULTI-OUTPUT NONLINEAR SYSTEM; PARALLEL MANIPULATOR; ROBUST NONLINEAR TASK SPACE CONTROL;

NONLINEAR CONTROL SYSTEMS;

EID: 0036990573     PISSN: 01912216     EISSN: None     Source Type: Journal    
DOI: 10.1109/CDC.2002.1184833     Document Type: Article

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