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In this paper we investigate the application to the motion control of n-link robotic manipulators of the recently developed stable factorization approach to tracking and disturbance rejection. Given a nominal model of the manipulator dynamics, the control scheme consists of an approximate feedback linearizing control followed by a linear compensator design based on the stable factorization approach to achieve optimal tracking and disturbance rejection. Using a multi-loop version of the small gain theorem , the applicability of the linear design techniques and the stability of the closed loop system are rigorously demonstrated.
Robotics and Automation. Proceedings. 1985 IEEE International Conference on (Volume:2 )
Date of Conference: Mar 1985