By Topic

A necessary and sufficient condition for robust decentralized controllability of robot manipulators

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

1 Author(s)
P. Kiriazov ; Inst. of Mech., Bulgarian Acad. of Sci., Sofia, Bulgaria

A simple, explicit condition on the inverse inertia matrix of robot manipulators is found to be necessary and sufficient for a system of decentralized joint controllers to be robust to bounded disturbances of various nature. Most properly designed nonredundant manipulators satisfy that condition, and for such robots, a system of sliding mode controllers with clearly determined robustness characteristics is proposed.

Published in:

American Control Conference, 1994  (Volume:2 )

Date of Conference:

29 June-1 July 1994