Title
Robust Control Of Constrained Robots
Abstract
In this paper, ve develop a robust controller for constrained robots in the presence of uncertainty in the robot dynamic equation. Following the development of the constrained robot given in [11], ve show that the tracking errors for force and position are bounded. Ve then show how these bounds can be decreased by adjusting the control parameters with respect to the parameters that govern the robot am equation.
Publication Date
1-1-1991
Publication Title
Proceedings - 23rd Southeastern Symposium on System Theory, SSST 1991
Number of Pages
187-191
Document Type
Article; Proceedings Paper
Personal Identifier
scopus
DOI Link
https://doi.org/10.1109/SSST.1991.138544
Copyright Status
Unknown
Socpus ID
84880995445 (Scopus)
Source API URL
https://api.elsevier.com/content/abstract/scopus_id/84880995445
STARS Citation
Dawson, Darren; Carroll, James; and Qu, Zhihua, "Robust Control Of Constrained Robots" (1991). Scopus Export 1990s. 1294.
https://stars.library.ucf.edu/scopus1990/1294