Tracking Control of Robot Manipulators Using a Robust Deterministic Control Law

[+] Author and Article Information
C.-G. Kang

Department of Mechanical Engineering, Kon-Kuk University, Seoul 143-701, Korea

R. Horowitz

Department of Mechanical Engineering, University of California, Berkeley, CA 94720

G. Leitmann

School of Engineering, University of California, Berkeley, CA 94720

J. Dyn. Sys., Meas., Control 120(4), 537-541 (Dec 01, 1998) (5 pages) doi:10.1115/1.2801499 History: Received June 06, 1996; Online December 03, 2007


There have been theoretical developments on the control of dynamic systems based on deterministically uncertain and singularly perturbed models in recent years. In this paper, a robust deterministic control scheme proposed originally by M. Corless et al. is modified, and is applied to the tracking control of robot manipulators. Simulation and experimental studies for a two degree of freedom, direct drive SCARA manipulator are conducted to evaluate the effectiveness of the control scheme.

Copyright © 1998 by The American Society of Mechanical Engineers
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