Robust Tracking Control for Constrained Robots
نویسندگان
چکیده
منابع مشابه
Robust Tracking Control for Constrained Robots
In this paper, a novel robust tracking control law is proposed for constrained robots under unknown stiffness environment. The stability and the robustness of the controller are proved using a Lyapunov-based approach where the relationship between the error dynamics of the robotic system and its energy is investigated. Finally, a 3DOF constrained robotic arm is used to prove the stability, the ...
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ژورنال
عنوان ژورنال: Procedia Engineering
سال: 2012
ISSN: 1877-7058
DOI: 10.1016/j.proeng.2012.07.313