Application of decentralized time-delay controller to robot manipulators

Abstract

The authors first review the concept of time-delay control, then present a decentralized version. The application of such a decentralized controller to robot manipulators is then discussed. Successful experimental results demonstrate the effectiveness of the time-delay concept. The controller functions despite any system parameter uncertainty, and it is not necessary that the parameters be estimated. The practical use is verified.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>