An addendum on "Robust control of robots by the computed torque method"

Harry Berghuis, Henk Nijmeijer, Peter Löhnberg

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    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 languageEnglish
    Pages (from-to)403-407
    Number of pages7
    JournalSystems and control letters
    Volume18
    Issue number5
    DOIs
    Publication statusPublished - 1992

    Keywords

    • Robotics
    • Tracking control
    • Unknown dynamics
    • Robustness
    • Lyapunov stability

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