Control of cooperative underactuated manipulators: a robustness comparison study
Workshop Paper, ISSPR '98 1st Workshop on Robotics and Mechatronics, Vol. 1, pp. 279 - 286, September, 1998
Abstract
In this article we present a comparison study of the robustness properties of three model-based nonlinear controllers for cooperative underactuated manipulators. Two of the controllers are based on feedback linearization of the nonlinear dynamic coupling between the torques applied at the actuated joints and the Cartesian acceleration of the load. The third is based on a gravity compensation scheme. Their robustness is checked against uncertainties in each of the links' masses and inertias. Simulation results provide the basis for the comparison of the controllers' robustness.
BibTeX
@workshop{Bergerman-1998-14745,author = {Marcel Bergerman and Yangsheng Xu and Y. Liu},
title = {Control of cooperative underactuated manipulators: a robustness comparison study},
booktitle = {Proceedings of ISSPR '98 1st Workshop on Robotics and Mechatronics},
year = {1998},
month = {September},
volume = {1},
pages = {279 - 286},
}
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