Constraint-Following Servo Control for the Trajectory Tracking of Manipulator with Flexible Joints and Mismatched Uncertainty
Trajectory tracking is a common application method for manipulators. However, the tracking performance is hard to improve if the manipulators contain flexible joints and mismatched uncertainty, especially when the trajectory is nonholonomic. On the basis of the Udwadia–Kalaba Fundamental Equation (U...
Main Authors: | Fangfang Dong, Bin Yu, Xiaomin Zhao, Shan Chen, Haijun Liu |
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Format: | Article |
Language: | English |
Published: |
MDPI AG
2021-09-01
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Series: | Machines |
Subjects: | |
Online Access: | https://www.mdpi.com/2075-1702/9/9/202 |
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