Conventional controller design for industrial robots — A tutorial

  • J. Y. S. Luh
  • Published 1983 in
    IEEE Transactions on Systems, Man, and…


Industrial robots are serial link manipulators whose dynamic characteristics are highly nonlinear. By controlling each link or joint individually, employing the conventional technique to design linear feedback controllers for the robot is possible. The gravitational force and force interactions between joints are suppressed by precalculated feedforward… (More)
DOI: 10.1109/TSMC.1983.6313163


14 Figures and Tables


Citations per Year

71 Citations

Semantic Scholar estimates that this publication has 71 citations based on the available data.

See our FAQ for additional information.