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Manipulators trajectory tracking with reduced order velocity observers

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5 Author(s)

In this work we propose a Lyapunov based design of velocity observers and the controller for stable trajectory tracking by a robotic manipulator. It is shown how the proposed design is exponentially stable over a finite domain, and, in the high gain approximation, exponentially stable in the large domain. Moreover, the design proposed leads naturally to a reduced order observer structure, with considerable implementation advantages

Published in:

Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on  (Volume:3 )

Date of Conference:

21-27 May 1995