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Title: Motion control of robotic manipulators with disturbance decoupling
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). Motion control of robotic manipulators with disturbance decoupling. Proceedings of the IEEE Conference on Control Applications 1 : 397-402. ScholarBank@NUS Repository.
Abstract: A scheme for the decoupling control of robotic manipulators, based on a dynamic model that includes both the mechanical dynamics of the links and the electrical dynamics of the joint motors, is proposed in this paper. The highly nonlinear and strongly cross-coupled electromechanical system is firstly decoupled and linearized into a set of decoupled linear subsystems. Disturbance decoupling is then conducted for disturbance and uncertainty attenuation. And what is more encouraging, the resulting algorithm is so simple that both modelling difficulty and control complexity of the manipulator systems can be reduced significantly.
Source Title: Proceedings of the IEEE Conference on Control Applications
ISBN: 0780309081
Appears in Collections:Staff Publications

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