IEEE - Institute of Electrical and Electronics Engineers, Inc. - A simple scheme of nonlinear decoupling control for robotic manipulators with flexible joints

Proceedings of TENCON '93. IEEE Region 10 International Conference on Computers, Communications and Automation

Author(s): H.A. Zhu ; C.L. Teo ; G.S. Hong ; A.N. Poo
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 January 1993
Conference Location: Beijing, China, China
Conference Date: 19 October 1993
Volume: 4
Page Count: 4
ISBN (Paper): 0-7803-1233-3
DOI: 10.1109/TENCON.1993.320459
Regular:

Control of robotic manipulators with flexible joints is considered in this paper. Without using sophisticated mathematical tools, a simple yet rigorous algorithm is derived to decouple and... View More

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