Precise torques and sliding mode compensation for trajectory tracking of manipulator with uncertainty
The control based on dynamic model could improve the dynamic performance of manipulators and obtain better control effects than the control based on kinematic model. As manipulators are complex online multivariable systems, there are various uncertainties in different environments and working condit...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2022-09-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.1177/17298806221121212 |