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• W2124653587 abstract "A simple decentralized controller is proposed to enable accurate trajectory tracking without requiring specific knowledge about the robot dynamics. Asymptotic stability of tracking errors is established using the Lyapunov stability theory. The control system is shown to be robust to torque disturbances affecting the system and to a class of unmodeled dynamics. The structure of the controller and the performance of the closed-loop system are analyzed. Simulations results using the complete dynamic model of a six degree of freedom industrial robot are presented to demonstrate the excellent tracking performance of the proposed controller." @default.
• W2124653587 created "2016-06-24" @default.
• W2124653587 creator A5079280590 @default.
• W2124653587 date "2002-12-23" @default.
• W2124653587 modified "2023-09-26" @default.
• W2124653587 title "A decentralized nonlinear three-term controller for manipulator trajectory tracking" @default.
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• W2124653587 doi "https://doi.org/10.1109/robot.1996.509274" @default.
• W2124653587 hasPublicationYear "2002" @default.
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