A New Discrete-Time Robot Model and Its Control Applications
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.
計測自動制御学会論文集 34(10), 1501-1503, 1998-10-31
The Society of Instrument and Control Engineers