Referenced Items are not available for this document.
The hybrid (position and force) control problem of a robot manipulator has been cast into the framework of control of dynamical systems whose mathematic model contains uncertainties. The uncertainties involved can be due to imperfect modeling, friction, payload change, and external disturbances. Based solely on the bound of these uncertainties, controllers can be constructed. A two-joint SCARA-type robot is discussed as an illustrative example
Published in:
Robotics and Automation, IEEE Transactions on
(Volume:6
,
Issue:
3
)
Date of Publication: Jun 1990
- Page(s):
- 303 - 311
- ISSN :
- 1042-296X
- INSPEC Accession Number:
- 3727504
- Digital Object Identifier :
- 10.1109/70.56662
- Product Type:
- Journals & Magazines
- Date of Current Version :
- 06 August 2002
- Issue Date :
- Jun 1990
- Sponsored by :
- IEEE Robotics and Automation Society
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