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A positive-real design for robotic manipulators

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Please use this identifier to cite or link to this item: http://hdl.handle.net/1928/20423

A positive-real design for robotic manipulators

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Title: A positive-real design for robotic manipulators
Author: Abdallah, Chaouki T.; Jordan, R.
Subject(s): Awards Planning & Policy Committee
Control design
Design engineering
Abstract: In this paper, we show that feedback-linearization in conjunction with the passivity property of rigid robots can guarantee the robustness of the closed-loop robotic system despite large uncertainties in the inertia matrix. The approach may be extended to the case of uncertain velocity-dependent terms under additional assumptions.
Date: 1990-05-23
Publisher: IEEE
Citation: American Control Conference, 1990: 991-992
URI: http://hdl.handle.net/1928/20423

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