An addendum on Robust Control of Robots by the Computed Torque Method

Harry Berghuis, Harry Berghuis, Henk Nijmeijer, P. Lohnberg

    Research output: Contribution to journalArticleAcademicpeer-review

    2 Citations (Scopus)
    50 Downloads (Pure)

    Abstract

    We reinterprete and improve recent results on robust control of robots by the computed method. The methods and ideas used are inspired by `passivity based¿ control methods for robot manipulators and lead to a significant increase in freedom of controller implementation, thereby providing more flexibility to the designer of robot control systems.
    Original languageUndefined
    Pages (from-to)403-407
    Number of pages7
    JournalSystems and control letters
    Volume0
    Issue number5
    DOIs
    Publication statusPublished - 1992

    Keywords

    • METIS-111829
    • IR-14866

    Cite this

    Berghuis, Harry ; Berghuis, Harry ; Nijmeijer, Henk ; Lohnberg, P. / An addendum on Robust Control of Robots by the Computed Torque Method. In: Systems and control letters. 1992 ; Vol. 0, No. 5. pp. 403-407.
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    year = "1992",
    doi = "10.1016/0167-6911(92)90031-M",
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    An addendum on Robust Control of Robots by the Computed Torque Method. / Berghuis, Harry; Berghuis, Harry; Nijmeijer, Henk; Lohnberg, P.

    In: Systems and control letters, Vol. 0, No. 5, 1992, p. 403-407.

    Research output: Contribution to journalArticleAcademicpeer-review

    TY - JOUR

    T1 - An addendum on Robust Control of Robots by the Computed Torque Method

    AU - Berghuis, Harry

    AU - Berghuis, Harry

    AU - Nijmeijer, Henk

    AU - Lohnberg, P.

    PY - 1992

    Y1 - 1992

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    AB - We reinterprete and improve recent results on robust control of robots by the computed method. The methods and ideas used are inspired by `passivity based¿ control methods for robot manipulators and lead to a significant increase in freedom of controller implementation, thereby providing more flexibility to the designer of robot control systems.

    KW - METIS-111829

    KW - IR-14866

    U2 - 10.1016/0167-6911(92)90031-M

    DO - 10.1016/0167-6911(92)90031-M

    M3 - Article

    VL - 0

    SP - 403

    EP - 407

    JO - Systems and control letters

    JF - Systems and control letters

    SN - 0167-6911

    IS - 5

    ER -