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.
1992
Pubblicato
Rilevanza internazionale
Articolo
Esperti anonimi
Settore ING-INF/04 - AUTOMATICA
English
Control and Systems Engineering; Software; Human-Computer Interaction; Hardware and Architecture; Computer Science Applications1707 Computer Vision and Pattern Recognition
Tornambè, A., Valigi, P. (1992). A decentralized robust controller for robotic manipulators. ADVANCED ROBOTICS, 7(3), 219-233 [10.1163/156855393X00131].
Tornambè, A; Valigi, P
Articolo su rivista
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.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/2108/193821
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 1
  • ???jsp.display-item.citation.isi??? ND
social impact