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• W1844039107 abstract "A linear feedback control scheme for trajectory tracking is presented. It is shown to be robust against model uncertainties. The scheme is based on an eigen-analysis of the inertia matrix of the mechanical manipulator considered and a least-squares-type approximation of the Coriolis, centrifugal, and gravity terms in the manipulator's dynamics. The eigen-analysis and least-squares approximation lead to a simple yet reasonable model which in turn defines a structure of the constant feedback control. To determine the parameters of this controller, an analysis of the tracking-error dynamics is carried out using a Lyapunov approach. It turns out that, by properly choosing a set of feedback gains, the tracking error can be kept to a prescribed range during the task in the presence of the gravity effect and model uncertainties. >" @default.
• W1844039107 created "2016-06-24" @default.
• W1844039107 creator A5083762822 @default.
• W1844039107 date "2003-01-06" @default.
• W1844039107 modified "2023-09-28" @default.
• W1844039107 title "Linear robust control of mechanical manipulators" @default.
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• W1844039107 doi "https://doi.org/10.1109/isic.1988.65470" @default.
• W1844039107 hasPublicationYear "2003" @default.
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