PROPORTIONAL RETARDED CONTROL OF ROBOT MANIPULATORS

Proportional Retarded Control of Robot Manipulators

multiple-rings In the present contribution, a methodology to solve the tracking control problem of robot manipulators through the use of a Proportional Retarded plus Gravity (PR+G) compensation scheme is presented.The main advantage of the proposal is to avoid the necessity of velocity measurements or their estimation, which is commonly used in mos

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