Title :
A Positive-Real Design for Robotic Manipulators
Author :
Abdallah, C. ; Jordan, R.
Author_Institution :
Department of Electrical Engineering and Computer Engineering, University of New Mexico, Albuquerque, NM, 87131 USA.
Abstract :
In this paper, we show that feedback-linearization in conjunction with the passivity property of rigid robots can guarantee the robustness of the closed-loop robotic system despite large uncertainties in the inertia matrix. The approach may be extended to the case of uncertain velocity-dependent terms under additional assumptions.
Keywords :
Awards Planning & Policy Committee; Control design; Control systems; Design engineering; Manipulators; Nonlinear equations; Robot control; Robust stability; Tellurium; Uncertainty;
Conference_Titel :
American Control Conference, 1990
Conference_Location :
San Diego, CA, USA
