Robust control of robot manipulators based on dynamics decomposition

摘要

An extension to our previous dynamics decomposition based control law (1993) is presented, and experimental results are reported. The experiments conducted on a direct-drive robot arm have confirmed the effectiveness and desirable properties of the proposed control scheme.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>