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- W185174956 abstract "The disturbance rejection control problem for a 6-DOF (degree of freedom) PUMA manipulator mounted on a 3-DOF platform is investigated. A control algorithm is designed to track the desired position and attitude of the end-effector in inertial space, subject to unknown disturbances in the platform axes. Conditions for the stability of the closed-loop system are derived. The performance of the controller is compared for step, sinusoidal, and random disturbances in the platform rotational axis and in the neighborhood of kinematic singularities." @default.
- W185174956 created "2016-06-24" @default.
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- W185174956 date "1992-11-01" @default.
- W185174956 modified "2023-09-27" @default.
- W185174956 title "Inertial-space disturbance rejection for robotic manipulators" @default.
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