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Title: Fine motion control by making actuators sensible
Authors: Zhu, H.A.
Teo, C.L. 
Hong, G.S. 
Poo, A.N. 
Issue Date: 1993
Source: Zhu, H.A.,Teo, C.L.,Hong, G.S.,Poo, A.N. (1993). Fine motion control by making actuators sensible : 997-1004. ScholarBank@NUS Repository.
Abstract: The nonlinear and cross-coupled dynamics of motor-manipulator systems is studied in this paper, and a control strategy is developed for achieving ease of controller design and high control performance. By using the algorithm developed in this paper, not only can the highly complicated motor-manipulator dynamics be effectively controlled, but the motors are also made `sensible' for sensing and compensating for the uncertain dynamics acting at manipulator joints. Furthermore, as a significant result, the modelling difficulty and control complexity of the manipulator dynamics can be significantly reduced.
ISBN: 0780308239
Appears in Collections:Staff Publications

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