Robust hybrid control of robot manipulators in an unstructured environment

@article{Chen1991RobustHC,
  title={Robust hybrid control of robot manipulators in an unstructured environment},
  author={Y. H. Chen},
  journal={Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments},
  year={1991},
  pages={1481-1484 vol.2}
}
  • Y. H. Chen
  • Published 1991 in
    Fifth International Conference on Advanced…
A hybrid (position and force) control algorithm of a robot manipulator with internal uncertainty and working in an unstructured environment is proposed. The internal uncertainty can be due to imperfect modelling, friction, payload or external disturbances. The unstructured environment can be due to the lack of knowledge of the designer. The problem has been cast into the framework of control of dynamical systems whose mathematical model contain uncertainties. Based solely on the bound of the… CONTINUE READING