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An experimental comparison of robust control algorithms on a direct drive manipulator

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2 Author(s)
Jaritz, A. ; St. Gallen Univ., Switzerland ; Spong, M.W.

In this paper we present an experimental comparison of recent passivity based robust control algorithms on a two-link direct-drive robot arm. The manipulator is actuated with high-torque brushless DC motors and is controlled by a digital signal processor (DSP) development system interfaced to a PC486 workstation. Four algorithms are compared with respect to ease of design, implementation, and performance of the closed-loop systems

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Control Systems Technology, IEEE Transactions on  (Volume:4 ,  Issue: 6 )