On a simplified joint controller design for robot manipulators
- 1 December 1987
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
Abstract
A simple controller design approach is introduced which provides linear decoupled joint motion control for a robot manipulator. The main idea is to treat each joint as a simple second order linear system with all the nonlinear and coupling effects viewed as disturbance. By employing a simple disturbance estimation/rejection procedure, highly robust independent joint control can be achieved.Keywords
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