Experiments on robust control of robot manipulators

  title={Experiments on robust control of robot manipulators},
  author={Guangjun Liu and Andrew A. Goldenberg},
Several robust control schemes as well as a computed torque method were implemented on a two degrees-ofi freedom direct drive robot. Simulations and experiments have been performed to test the effectiveness of the control schemes and to compare their performance. Based on the results obtained, an integral control has been introduced with a saturation control scheme. This has been found to generate a better tracking performance than the other methods evaluated experimentally. Some generic… CONTINUE READING

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