Robust compensation for a robotic manipulator

DOI10.1109/TAC.1984.1103574MaRDI QIDQ3315375zbMATH OpenOpenAlexFDO

Authors Gongliang Luo, George N. Saridis

Publication date 1984

Published in IEEE Transactions on Automatic Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1109/tac.1984.1103574

zbMATH Keywords

feedbacktorque compensationrobust compensationacceleration compensationsuboptimally controlled manipulator arm

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Sensitivity, stability, well-posedness (49K40) Control of mechanical systems (70Q05) Synthesis problems (93B50) Control/observation systems governed by ordinary differential equations (93C15)

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Cited in

(8)

• Compliant motion control for robot manipulators
• Trajectory tracking control of Euler-Lagrange systems with ISS-like robustness to actuator noises
• PDF Subvariable Control and Its Application to Robot Motion Control
• Robust disturbance estimation for human-robotic comanipulation
• Servocompensation of disturbances in robotic systems
• Composite compensation control of robotic system subject to external disturbance and various actuator faults
• The precise control of manipulators with high joint-friction using base force/torque sensing
• Compensation of Robot joint variables using special Jacobian matrices

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