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An addendum on ”Robust control of robots by the computed torque method”. (English) Zbl 0779.93072
Summary: We reinterprete and improve recent results on robust control of robots [ibid. 16, No. 1, 25-32 (1991; Zbl 0737.93052)] by the computed method. The methods and ideas used are inspired by ‘passivity based’ control methods for robot manipulators and lead to a significant increase in freedom of controller implementation, thereby providing more flexibility to the designer of robot control systems.
93C85 Automated systems (robots, etc.) in control theory
70Q05 Control of mechanical systems
93B35 Sensitivity (robustness)
Full Text: DOI
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