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On representing robot modelling errors as disturbances in joint accelerations: theory and experiments

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3 Author(s)
Cahill, A.J. ; Australian Nat. Univ., Canberra, ACT, Australia ; Kieffer, J.C. ; James, M.R.

In this paper we propose an approach for identifying robot modelling errors as disturbances in joint accelerations and a theory for relating such disturbances to the performance of robots under computed-torque control. We present some experimental evidence that the theory can be useful in practice

Published in:

Decision and Control, 1995., Proceedings of the 34th IEEE Conference on  (Volume:1 )

Date of Conference:

13-15 Dec 1995