Synthesis of Control Systems for Manipulators Using Multivariable Robust Servomechanism Theory
- 1 September 1985
- journal article
- Published by SAGE Publications in The International Journal of Robotics Research
- Vol. 4 (3) , 18-34
- https://doi.org/10.1177/027836498500400302
Abstract
This paper describes a framework for synthesizing control laws for manipulators based on robust servomechanism theory for multivariable linear systems. This framework takes into account the coupled and nonlinear nature of the differen tial equations describing the manipulator as well as the fact that the inputs and outputs are subject to large excursions.Keywords
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