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Author Myszkorowski, P.
Source IEEE Xplore Digital Library
Content type Text
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
File Format PDF
Copyright Year ©1992
Language English
Subject Domain (in DDC) Technology ♦ Engineering & allied operations ♦ Other branches of engineering
Subject Keyword Robust control ♦ Robot control ♦ Manipulators ♦ Feedback ♦ Trajectory
Abstract The problem of robust control of robot manipulators with elastic joints is considered. Based on mild common assumptions, an attempt is made to avoid global feedback linearization by exploiting the two-level system structure and proposing a two-step design procedure. It is shown that the use of the variable-structure controller guarantees uniformly stable tracking of the reference trajectory within its predefined neighborhood.<<ETX>>
Description Author affiliation: Inst. of Autom., Tech. Univ. of Lodz, Poland (Myszkorowski, P.)
ISBN 0780308727
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research ♦ Reading
Education Level UG and PG
Learning Resource Type Article
Publisher Date 1992-12-16
Rights Holder Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Size (in Bytes) 214.93 kB
Page Count 2
Starting Page 291
Ending Page 292

Source: IEEE Xplore Digital Library