Cart (Loading....) | Create Account
Close category search window
 

Robust digital controller design for robot manipulator

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
$31 $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

2 Author(s)
Shatalov, B.V. ; Novosibirsk State Tech. Univ., Russia ; Yurkevich, V.D.

The problem of the robust digital controller design to solve a tracking problem for robotic manipulators is studied. The design method based on the formation of two-time-scale motions in the closed-loop system is used. It has been shown that if a sufficient time-scale separation between the fast and slow modes in the discussed closed-loop system and stability of fast modes are provided then slow modes have the desired form and thus the output transient performance indices are insensitive to parameter variations of the robotic manipulator. Numerical simulations of the two-link robotic manipulator are presented

Published in:

Science and Technology, 2000. KORUS 2000. Proceedings. The 4th Korea-Russia International Symposium on  (Volume:3 )

Date of Conference:

2000

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.