Kinematically Optimal Robust Control of Redundant Manipulators
This work deals with the problem of the robust optimal task space trajectory tracking subject to finite-time convergence. Kinematic and dynamic equations of a redundant manipulator are assumed to be uncertain. Moreover, globally unbounded disturbances are allowed to act on the manipulator when track...
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| Format: | Article |
| Language: | English |
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University of Zielona Góra
2017-12-01
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| Series: | International Journal of Applied Mechanics and Engineering |
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| Online Access: | https://www.ijame-poland.com/Kinematically-Optimal-Robust-Control-of-Redundant-Manipulators,167011,0,2.html |