DocumentCode
1637169
Title
Robust control of robot manipulators based on dynamics decomposition
Author
Liu, Guang-jun ; Goldenberg, Andrew A.
Author_Institution
Dept. of Mech. Eng., Toronto Univ., Ont., Canada
Volume
1
fYear
1994
Firstpage
822
Abstract
An extension to our previous dynamics decomposition based control law (1993) is presented, and experimental results are reported. The experiments conducted on a direct-drive robot arm have confirmed the effectiveness and desirable properties of the proposed control scheme
Keywords
control system analysis; dynamics; manipulators; robust control; direct-drive robot arm; dynamics decomposition; manipulators; robot; robust control; DC motors; Friction; Gravity; Manipulator dynamics; Motion control; Robotics and automation; Robots; Robust control; Torque control; Uncertainty;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1994., Proceedings of the 33rd IEEE Conference on
Conference_Location
Lake Buena Vista, FL
Print_ISBN
0-7803-1968-0
Type
conf
DOI
10.1109/CDC.1994.410967
Filename
410967
Link To Document