Robust Trajectory Tracking Control of Robot Manipulators for High Precision.
نویسندگان
چکیده
منابع مشابه
A Novel Robust Adaptive Trajectory Tracking in Robot Manipulators
In this paper, a novel adaptive sliding mode control for rigid robot manipulators is proposed. In the proposed system, since there may exist explicit unknown parameters and perturbations, a Lyapunov based approach is presented to increase system robustness, even in presence of arbitrarily large (but not infinite) discontinuous perturbations. To control and track the robot, a continuous controll...
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ژورنال
عنوان ژورنال: TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
سال: 1994
ISSN: 0387-5024,1884-8354
DOI: 10.1299/kikaic.60.2071