Robust nonlinear control of robot manipulator with uncertainties in kinematics, dynamics and actuator models

International Journal of Innovative Computing, Information and Control

Volumn 8, Issue 8, 2012, Pages 5487-5498

  Soltanpour, Mohammad Reza ^a   Khalilpour, Jafaar ^a   Soltani, Mahmoodreza ^b  

^a Shahid Sattari Air University   (Iran)

^b University of Texas at El Paso   (United States)

Author keywords

Actuator dynamics; Backstepping method; Practical implementation; Robot manipulators; Task space; Uncertain dynamics; Uncertain kinematics

Indexed keywords

ACTUATOR DYNAMICS; BACK-STEPPING METHOD; PRACTICAL IMPLEMENTATION; ROBOT MANIPULATOR; TASK SPACE; UNCERTAIN DYNAMICS; UNCERTAIN KINEMATICS;

ACTUATORS; BACKSTEPPING; CLOSED LOOP SYSTEMS; DC MOTORS; FLEXIBLE MANIPULATORS; INDUSTRIAL ROBOTS; KINEMATICS; LYAPUNOV METHODS; MODULAR ROBOTS; ROBOT APPLICATIONS; ROBUST CONTROL;

DYNAMICS;

EID: 84866045029     PISSN: 13494198     EISSN: None     Source Type: Journal    
DOI: None     Document Type: Article

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