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|Title:||Uncertainty-attenuating controller for mechanical manipulators with electromechanical dynamics|
|Source:||Zhu, H.A.,Teo, C.L.,Hong, G.S. (1993). Uncertainty-attenuating controller for mechanical manipulators with electromechanical dynamics. Proceedings of the Institution of Mechanical Engineers. Part I, Journal of systems and control engineering 207 (3) : 165-171. ScholarBank@NUS Repository.|
|Abstract:||It is known that the cross-coupled non-linear electromechanical dynamics of motor-manipulator systems is more complex than when only the mechanical dynamics is considered. In this paper, control of manipulars with non-negligible motor dynamics is studied and a control strategy is developed for achieving ease of controller design and high control performance. By using the developed algorithm not only can the highly complicated electromechanical dynamics be effectively controlled, but also the motors are made sensible to sense and compensate for the uncertain dynamics acting at the minipulator joints.|
|Source Title:||Proceedings of the Institution of Mechanical Engineers. Part I, Journal of systems and control engineering|
|Appears in Collections:||Staff Publications|
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