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- W901296634 abstract "An new class of robust position/force hybrid control law is proposed for uncertain robot manipulators. The uncertainty is nonlinear and (plssibly fast) time-varying. Therefore, the uncertain factors such as imper- fect modeling, friction, payload change, and external disturbance are all addressed. Based on the possible bound of the uncertainty, the controller is constructed and the stability study based on Lyapunov function is presented. To show that the proposed control laws are indeed applicable, the theoretical result is applied to a SCARA-type robot manipulator and simulation result is presented." @default.
- W901296634 created "2016-06-24" @default.
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- W901296634 date "1997-01-01" @default.
- W901296634 modified "2023-09-23" @default.
- W901296634 title "Robust Hybrid Control for Uncertain Robot Manipulators" @default.
- W901296634 hasPublicationYear "1997" @default.
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