Set-point regulation for a robot with model uncertainties

被引：0

作者：

Arogeti, S ^{[1
]}

Berman, N ^{[1
]}

机构：

[1] Ben Gurion Univ Negev, Dept Mech Engn, IL-84105 Beer Sheva, Israel

来源：

21ST IEEE CONVENTION OF THE ELECTRICAL AND ELECTRONIC ENGINEERS IN ISRAEL - IEEE PROCEEDINGS | 2000年

关键词：

D O I：

10.1109/EEEI.2000.924398

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this work we introduce a smooth linear control algorithm for the set-point regulation of a robot with an certainties in it mathematical model. This control algorithm incorporates position measurement only, while compensating for the unknown gravity forces. We also discuss its performance in comparison to other algorithms with similar structure.

引用

页码：289 / 292

页数：4

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