IEEE - Institute of Electrical and Electronics Engineers, Inc. - A smooth robust nonlinear controller for robot manipulators with joint stick-slip friction

Proceedings of 1993 IEEE International Conference on Robotics and Automation

Author(s): Cai, L. ; Song, G.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 January 1993
Conference Location: Atlanta, GA, USA
Conference Date: 2 May 1993
ISBN (Paper): 0-8186-3450-2
DOI: 10.1109/ROBOT.1993.292213
Regular:

The design of a smooth robust nonlinear controller for the regulation of an n-degree-of-freedom rigid robot with internal joint stick-slip friction is presented. It is shown that not only... View More

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