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. © 1992 Taylor & Francis Group, LLC.
Tornambè, A., Valigi, P. (1992). A decentralized robust controller for robotic manipulators. ADVANCED ROBOTICS, 7(3), 219-233 [10.1163/156855393X00131].
A decentralized robust controller for robotic manipulators
Tornambè, Antonio;Valigi, Paolo
1992-01-01
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. © 1992 Taylor & Francis Group, LLC.File in questo prodotto:
Non ci sono file associati a questo prodotto.
I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
