TY - GEN
T1 - Robust control of robot using Cartesian space feedback
AU - Cai, L.
AU - Goldenberg, A. A.
PY - 1988
Y1 - 1988
N2 - A method for designing a robust controller for robot manipulators with bounded uncertainty in Cartesian space has been presented. Simulation results show that, by using this controller, very good tracking performance of the robot can be achieved, even in the presence of joint friction force and payload variations. Furthermore, the stability of the robot can be guaranteed during collision with the environment. In addition, uniform attractively has been shown analytically.
AB - A method for designing a robust controller for robot manipulators with bounded uncertainty in Cartesian space has been presented. Simulation results show that, by using this controller, very good tracking performance of the robot can be achieved, even in the presence of joint friction force and payload variations. Furthermore, the stability of the robot can be guaranteed during collision with the environment. In addition, uniform attractively has been shown analytically.
UR - https://www.scopus.com/pages/publications/0024175452
M3 - Conference Paper published in a book
AN - SCOPUS:0024175452
SN - 7800030393
T3 - Proc 1988 IEEE Int Conf Syst Man Cybern
SP - 250
EP - 254
BT - Proc 1988 IEEE Int Conf Syst Man Cybern
A2 - Anon, null
T2 - Proceedings of the 1988 IEEE International Conference on Systems, Man, and Cybernetics
Y2 - 8 August 1988 through 12 August 1988
ER -