Kenzo Wada

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In this paper the sliding mode motion design is considered for the nonlinear plants which are linear with respect to the control input. The dynamics of the robotic manipulators is treated with and without the dynamics of the actuators. When the dynamics of the actuators is included a design of the sliding modes for the systems with discontinuous control is(More)
Recently, the development costs for robot software is becoming bigger and bigger. Especially, the robots which works with humans in the home and office environment are expected to have various functions according to its user's demand. Therefore, RT (Robotics Technology) middleware developed by AIST offers the methods to develop desired robot system by(More)
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