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|Title:||Identification for the robust control of robot manipulators|
|Publisher:||JOHN WILEY & SONS LTD|
|Citation:||INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING, 15(1), 1-13|
|Abstract:||In this paper an identification scheme, which yields bounds on unmodelled dynamics along with an estimate for the parameters of a nominal dynamic model has been presented. These estimates are useful for designing a robust controller for trajectory control of robot manipulators, if they satisfy certain conditions. These conditions have been stated mathematically. Guidelines are provided for selecting a data set for identification such that the obtained estimates satisfy the above conditions. Simulation results are presented for a two-link serial manipulator, when frictional torques are treated as unmodelled. Copyright (C) 2001 , Ltd.|
|Appears in Collections:||Article|
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