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Robust trajectory control for robot

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3 Author(s)
Lixin Wei ; Inst. of Electr. Eng., Yanshan Univ., China ; Hongrui Wang ; Ying Li

A kind of robot trajectory control scheme for the uncertainty of robot dynamics is proposed in this paper. Furthermore, the stability of the controlled system is analyzed. The simulation demonstrates that the method has good robustness for some parameter uncertainties and random disturbance of the robot system.

Published in:

Intelligent Control and Automation, 2004. WCICA 2004. Fifth World Congress on  (Volume:6 )

Date of Conference:

15-19 June 2004