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- W321738389 abstract "Typically the dynamic control of robotic manipulators is characterized by two levels. The first one requires coordinate transformations to convert the desired path from Cartesian to joint space. The second one requires the computation of generalized torque inputs starting from the knowledge of the manipulator dynamic model. The problems at both levels are difficult to solve because of the high nonlinearities, parametric variations and inaccuracies which occur. Using adaptation control laws, valid for nonlinear time-varying plants, a robust control technique is developed at the second level forcing the controlled manipulator to follow the behaviour of a decoupled linear time invariant system. The problem of converting coordinates is reformulated as a nonlinear dynamic problem and is solved again by making use of robust adaptive techniques. The amount of computation is limited and the precision obtainable is very satisfactory as shown by simulation results." @default.
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- W321738389 date "1984-07-01" @default.
- W321738389 modified "2023-09-25" @default.
- W321738389 title "Robust Control of Robotic Manipulators" @default.
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- W321738389 doi "https://doi.org/10.1016/s1474-6670(17)61347-8" @default.
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