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On robustness of decentralized control for robot manipulators
A. Swarup,
Published in
Volume: 11
Issue: 2
Pages: 109 - 112
For the trajectory-tracking problem of robot manipulators various decentralized control schemes are investigated in this paper. These control schemes result in poor tracking performance in case of large payload variations. A compensation scheme using an error-data knowledge base is developed to improve the performance robustness. © 1993.
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