Robust Task Space Trajectory Tracking Control of Robotic Manipulators
This work deals with the problem of the accurate task space trajectory tracking subject to finite-time convergence. Kinematic and dynamic equations of a redundant manipulator are assumed to be uncertain. Moreover, globally unbounded disturbances are allowed to act on the manipulator when tracking th...
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| Format: | Article |
| Language: | English |
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Sciendo
2016-08-01
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| Series: | International Journal of Applied Mechanics and Engineering |
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| Online Access: | https://doi.org/10.1515/ijame-2016-0033 |