Robot trajectory control: Robust outer loop design using a linear controller (Q1179530): Difference between revisions
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Latest revision as of 12:48, 15 May 2024
scientific article
| Language | Label | Description | Also known as |
|---|---|---|---|
| English | Robot trajectory control: Robust outer loop design using a linear controller |
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Robot trajectory control: Robust outer loop design using a linear controller (English)
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26 June 1992
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The paper under review considers trajectory control of robotic manipulators using a robust linear control law. For a system with unknown but bounded parameters an inverse dynamic control scheme that consits of a linearizing control (inner loop) based on a nominal system, and a robust linear feedback control (outer loop) based on the uncertainty bounds are implemented. The combined system achieves partical tracking. The approach is demonstrated on single-link and two-link robots.
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single link robot
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two-link robots
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