ROBUST COMPUTED TORQUE CONTROL OF ROBOT MANIPULATORS WITH UNCERTAINTIES

SONG Yongduan, GAO Weibing, CHENG Mian. ROBUST COMPUTED TORQUE CONTROL OF ROBOT MANIPULATORS WITH UNCERTAINTIES[J]. ROBOT, 1989, 11(6): 6-11.

Citation:

SONG Yongduan, GAO Weibing, CHENG Mian. ROBUST COMPUTED TORQUE CONTROL OF ROBOT MANIPULATORS WITH UNCERTAINTIES[J]. ROBOT, 1989, 11(6): 6-11.

Citation:

SONG Yongduan, GAO Weibing, CHENG Mian. ROBUST COMPUTED TORQUE CONTROL OF ROBOT MANIPULATORS WITH UNCERTAINTIES[J]. ROBOT, 1989, 11(6): 6-11.

Abstract

This paper studies the path tracking control problem of robot manipulator in the presence ofuncertainty.A robust computde torque control strategy is presented.It is shown that with this strategy,thetracking convergence is ensured.

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