Nonlinear tracking control on a robot manipulator in the task space with uncertain dynamics

Journal of Applied Sciences

Volumn 8, Issue 23, 2008, Pages 4397-4403

  Soltanpour, M R ^a   Fateh, M M ^a   Ahmadi Fard, A R ^a  

^a SHAHROOD UNIVERSITY OF TECHNOLOGY   (Iran)

Author keywords

Control; Feedback linearization; Robot manipulator; Robust nonlinear; Task space; Uncertainty

Indexed keywords

DEGREES OF FREEDOM ROBOTS; GLOBALLY ASYMPTOTICAL STABILITIES; NON-LINEAR TRACKING CONTROL; ROBOT MANIPULATOR; ROBUST CONTROLLERS; ROBUST NONLINEAR; TASK SPACE; UNCERTAINTY;

CLOSED LOOP CONTROL SYSTEMS; CLOSED LOOP SYSTEMS; CONTROL; FEEDBACK LINEARIZATION; INDUSTRIAL ROBOTS; LYAPUNOV METHODS; MODULAR ROBOTS; NAVIGATION; ROBOT APPLICATIONS; UNCERTAINTY ANALYSIS;

FLEXIBLE MANIPULATORS;

EID: 67649255332     PISSN: 18125654     EISSN: 18125662     Source Type: Journal    
DOI: 10.3923/jas.2008.4397.4403     Document Type: Article

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