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- W4386072044 abstract "The serial spherical robotic manipulators are highly nonlinear and strongly coupled systems. Considering the system uncertainty and disturbance, achieving high-precision control of the manipulators is a challenge. This paper studies tracking control method of serial spherical robotic manipulators with uncertain dynamics and disturbance torque on joints. The disturbance observer and sliding mode control are combined to realize the high-precision joint angle position tracking of 3-DOF serial spherical robotic manipulators. The simulation results demonstrate the effectiveness of the adopted method." @default.
- W4386072044 created "2023-08-23" @default.
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- W4386072044 date "2023-08-06" @default.
- W4386072044 modified "2023-09-27" @default.
- W4386072044 title "Tracking Control for Serial Spherical Robotic Manipulators with Uncertain Dynamics" @default.
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- W4386072044 doi "https://doi.org/10.1109/icma57826.2023.10215917" @default.
- W4386072044 hasPublicationYear "2023" @default.
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