Control of a 2 D.O.F direct drive robot arm using integral sliding mode control
High accuracy trajectory tracking is a very challenging topic in direct drive robot control. This is due to the nonlinearities and input couplings present in the dynamics of the robot arm. This thesis is concerned with the problems of modelling and control of a 2 degree of freedom direct drive arm....
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| Format: | Thesis |
| Language: | English |
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2004
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| Online Access: | http://eprints.utm.my/2954/1/BabulSalamMFKE2004.pdf |