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Realization of a control device for a robotic manipulator based on nonlinear decoupling and sliding mode control

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4 Author(s)
Bellini, Armando ; Dept. of Electron. Eng., Rome Univ., Italy ; Figalli, Gennaro ; Pinello, P. ; Ulivi, G.

The realization of a control system for a robotic manipulator is described. The control scheme is subdivided into two hierarchical levels: the inner level performs the output decoupling of the joint dynamics: the outer one computes the desired accelerations. The decoupling, obtained by a simplified compensator and a sliding mode technique, is realized by means of analog circuits, while the tracking of the desired trajectories is performed by a digital computer. The description of measurements and tests is included

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Industry Applications, IEEE Transactions on  (Volume:25 ,  Issue: 5 )