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Conference papers
An encompassing formalization of robust computed torque schemes of robot systems
Abstract : This paper deals with the tracking control of robot systems in presence of perturbations such as modelling errors and disturbance forces. More specifically, this paper aims at reviewing the well-established robust computed torque controller. The first goal consists in establishing a global and encompassing formalization for a large class of robust computed torque schemes by using a Lyapunov approach. Then the second goal is to use this formalization to improve a particular scheme. It consists in deriving lower gain thresholds by exploiting the passivity property of robot systems.
Keywords :
Robot system
encompassing formalization
https://hal-mines-paristech.archives-ouvertes.fr/hal-00505084
Contributor : Magalie Prudon Connect in order to contact the contributor
Submitted on : Thursday, July 22, 2010 - 3:11:30 PM
Last modification on : Wednesday, November 17, 2021 - 12:30:50 PM
Contributor : Magalie Prudon Connect in order to contact the contributor
Submitted on : Thursday, July 22, 2010 - 3:11:30 PM
Last modification on : Wednesday, November 17, 2021 - 12:30:50 PM