On the Robustness of the Computed Torque Technique in Manipulator Control
In this paper, the robustness of the computed torque technique for manipulator control is investigated in the presence of model errors. The robustness analysis is performed in the frequency domain by means of the block Gerschgorin theorem. This theorem gives inclusion regions for the eigenvalues of...
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| Format: | Article |
| Language: | English |
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Norwegian Society of Automatic Control
1987-07-01
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| Series: | Modeling, Identification and Control |
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| Online Access: | http://www.mic-journal.no/PDF/1987/MIC-1987-3-3.pdf |