In this paper a decentralized robust controller-based only on position and speed measurements-is proposed for robotic manipulators, which ensures the asymptotic stability of the controlled system. The control law is completely independent of the motion equations of the robot. The proposed controller has actually been implemented and some experimental results are reported.
A decentralized robust controller for robotic manipulators
VALIGI, Paolo
1992
Abstract
In this paper a decentralized robust controller-based only on position and speed measurements-is proposed for robotic manipulators, which ensures the asymptotic stability of the controlled system. The control law is completely independent of the motion equations of the robot. The proposed controller has actually been implemented and some experimental results are reported.File in questo prodotto:
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