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

Title: A decentralised variable structure model following controller for robot manipulators
Authors: Pandian, S R
Hanmandlu, M
Gopal, M
Keywords: trajectory control
decentralized model
actuator dynamics
parametric uncertainties
Issue Date: 1988
Citation: Robotics and Automation, 3, 1324 - 1328
Abstract: An 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 variations
URI: http://eprint.iitd.ac.in/dspace/handle/2074/1680
Appears in Collections:Electrical Engineering

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