A New Discrete-Time Robot Model and Its Control Applications
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This paper presents a new discrete-time robot model which has very simple structure and independent to nonlinear force terms and external force term. Both pole-placement control scheme and adaptive control scheme are designed and implemented in controlling a 2-link manipulator disturbed by unknown external forces.
- Transactions of the Society of Instrument and Control Engineers
Transactions of the Society of Instrument and Control Engineers 34(10), 1501-1503, 1998-10-31
The Society of Instrument and Control Engineers