DISCRETE-TIME ROBUST CONTROL FOR ROBOT-MANIPULATOR

DISCRETE-TIME ROBUST CONTROL FOR ROBOT-MANIPULATOR

The problem of robot-manipulator control is considered under uncertainty in robot dynamic parameters and input noise. The linear discrete-time regulator is proposed for desired motion stabilization of robot-manipulator. It is shown that decreasing the sampling time it is possible to make the trackin...

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Bibliographic Details
Main Author:	S. V. Gusev
Format:	Article
Language:	English
Published:	Saint Petersburg National Research University of Information Technologies, Mechanics and Optics (ITMO University) 2013-01-01
Series:	Naučno-tehničeskij Vestnik Informacionnyh Tehnologij, Mehaniki i Optiki
Subjects:	robot-manipulator robust control linear regulator discrete time
Online Access:	http://openbooks.ifmo.ru/read_ntv/4048/4048.pdf

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