Referenced Items are not available for this document.
In this letter, a model-based disturbance attenuator (MBDA) for robot manipulators is proposed and the stability of the MBDA in robot positioning problems is proved via Liapunov's direct method. This method does not require an accurate model of a robot manipulator and takes care of disturbances or modeling errors so that the plant output remains relatively unaffected by them. The output error due to the gravity or constant disturbance can be effectively eliminated by this method.
Published in:
Mechatronics, IEEE/ASME Transactions on
(Volume:8
,
Issue:
4
)
Date of Publication: Dec. 2003
- Page(s):
- 511 - 513
- ISSN :
- 1083-4435
- INSPEC Accession Number:
- 7878527
- Digital Object Identifier :
- 10.1109/TMECH.2003.820023
- Product Type:
- Journals & Magazines
- Date of Current Version :
- 07 January 2004
- Issue Date :
- Dec. 2003
- Sponsored by :
- ASME Dynamic Systems and Control Division
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