A Controller Design Guaranteeing Precise Trajectory Following for a Robotic Manipulator

Abstract

The controller synthesis procedure proposed in Jayasuriya, et. al (1984), for precise tracking of reference inputs in the sense of spheres is applied to a 3 d.o.f. robotic manipulator. Their methodology applies to a class of nonlinear systems with input uncertainty and parameter uncertainty. The 3 d.o.f. manipulator to be controlled is subjected to varying… (More)

1 Figure or Table

Topics

  • Presentations referencing similar topics