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Set-point regulation for a robot with model uncertainties

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2 Author(s)
Arogeti, S. ; Dept. of Mech. Eng., Ben-Gurion Univ. of the Negev, Beer-Sheva, Israel ; Berman, N.

We introduce a smooth linear control algorithm for the set-point regulation of a robot with uncertainties in its mathematical model. This control algorithm incorporates position measurement only, while compensating for the unknown gravity forces. We also discuss its performance in comparison to other algorithms with similar structure

Published in:

Electrical and ELectronic Engineers in Israel, 2000. The 21st IEEE Convention of the

Date of Conference:

2000

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