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

Harry Berghuis; Henk Nijmeijer; Peter Löhnberg

doi:10.1016/0167-6911(92)90031-M

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

Harry Berghuis, Henk Nijmeijer, Peter Löhnberg

Research output: Contribution to journal › Article › Academic › peer-review

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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 language	English
Pages (from-to)	403-407
Number of pages	7
Journal	Systems and control letters
Volume	18
Issue number	5
DOIs	https://doi.org/10.1016/0167-6911(92)90031-M
Publication status	Published - 1992

Keywords

Robotics
Tracking control
Unknown dynamics
Robustness
Lyapunov stability

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10.1016/0167-6911(92)90031-M

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title = "An addendum on {"}Robust control of robots by the computed torque method{"}",

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.",

keywords = "Robotics, Tracking control, Unknown dynamics, Robustness, Lyapunov stability",

author = "Harry Berghuis and Henk Nijmeijer and Peter L{\"o}hnberg",

year = "1992",

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T1 - An addendum on "Robust control of robots by the computed torque method"

AU - Berghuis, Harry

AU - Nijmeijer, Henk

AU - Löhnberg, Peter

PY - 1992

Y1 - 1992

N2 - 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.

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 - Robotics

KW - Tracking control

KW - Unknown dynamics

KW - Robustness

KW - Lyapunov stability

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

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

M3 - Article

SN - 0167-6911

VL - 18

SP - 403

EP - 407

JO - Systems and control letters

JF - Systems and control letters

IS - 5

ER -

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

Abstract

Keywords

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