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Volume :26 Issue : 2 1999      Add To Cart                                                                    Download

A robust passivity-based control scheme for robot arms

Auther : MAGDI S. MAHMOUD AND MOHAMED ZRIBI

Department of Electrical and Computer Engineering, Kuwait University, PO Box 5969, Safat-13060, Kuwait

ABSTRACT

In this paper, a controller structure is developed to provide for asymptotic tracking of robot arm motion. The design tool is based on the passivity of the system and the analysis leads to a simple and easy to implement robust version of the inverse dynamics. Simulation studies are given to demonstrate the performance of the control scheme. A comparison with other methods is undertaken to show the merits of the developed control scheme.

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