论文信息 - On robustness of decentralized control for robot manipulators

On robustness of decentralized control for robot manipulators

Abstract For the trajectory-tracking problem of robot manipulators various decentralized control schemes are investigated in this paper. These control schemes result in poor tracking performance in case of large payload variations. A compensation scheme using an error-data knowledge base is developed to improve the performance robustness.

Madan Gopal | A. Swarup | M. Gopal | A. Swarup

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