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Cost-efficient controller for robotic manipulator

Cost-efficient controller for robotic manipulator

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A new method based on disturbance attenuation is developed for enabling a manipulator to follow a given path. Its main advantage is the reduction of computation when compared with established techniques such as the computed torque control. This is achieved by regarding the effects of certain components of the dynamics as disturbances. Its effectiveness is illustrated using a simulation for a six degree of freedom industrial robot.

References

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      • J.C. Willems . Almost invariant subspaces: an approach to high gain feedback design—part 1: almost controlled invariant sub-spaces. IEEE Trans. , 1 , 235 - 252
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      • D. Hinrichsen , A.J. Pritchard . Stability radius for structured perturbations and the algebraic Riccati equation. Systems and Control Lett. , 2 , 105 - 113
    3. 3)
      • B. Armstrong , O. Khatib , J. Burdick . (1986) The explicit dynamic model and inertial parameters of the PUMA 560 Arm, Proc. IEEE Conf. on Robotics and Automation.
    4. 4)
      • A.J. Koivo . (1989) , Fundamentals for control of robotic manipulators.
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