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Please use this identifier to cite or link to this item: http://eprint.iitd.ac.in/handle/2074/1680

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dc.contributor.authorPandian, S R-
dc.contributor.authorHanmandlu, M-
dc.contributor.authorGopal, M-
dc.identifier.citationRobotics and Automation, 3, 1324 - 1328en
dc.description.abstractAn algorithm for the trajectory control of robot manipulators be decentralized feedback is proposed. A decentralized model following controller is used that bypasses the complexities posed by the nonlinear, uncertain dynamics of manipulator, dealing instead with the simpler actuator dynamics and treating the joint torques as disturbances. The controller is simple computationally easy, and robust to parametric uncertainties and payload variationsen
dc.format.extent55021 bytes-
dc.subjecttrajectory controlen
dc.subjectdecentralized modelen
dc.subjectactuator dynamicsen
dc.subjectparametric uncertaintiesen
dc.titleA decentralised variable structure model following controller for robot manipulatorsen
Appears in Collections:Electrical Engineering

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