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Robust Control of Robotic Manipulators

  • Conference paper
Expert Systems and Robotics

Part of the book series: NATO ASI Series ((NATO ASI F,volume 71))

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Abstract

A robotic manipulator must often be operated in an uncertain environment, e.g., picking up different payloads of different or unknown weights, accidental drop of a payload, imprecise knowledge of the robot itself, disturbances, etc. Therefore, the controller must be designed so that the manipulator will perform its tasks despite the existence of some uncertainties. In this article methods of designing stabilizing state feedback control laws are discussed based on the worst case scenario. The results are applied to the tracking problem of a robot manipulator. The second method of Lyapunov and its extensions are extensively used. Our focus is given to the controller design motivated by the game theory with conflicting agents.

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Author information

Authors and Affiliations

  1. Department of Electrical Engineering, California State University, Long Beach, 1250 Bellflower Boulevard, Long Beach, California, 90840-8303, USA

    F. Hamano

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  1. F. Hamano
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Editor information

Editors and Affiliations

  1. Department of Electrical Engineering, California State University, 1250 Bellflower Boulevard, 90840-5005, Long Beach, CA, USA

    Timothy Jordanides

  2. Department of Mechanical Engineering, California State University, 1250 Bellflower Boulevard, 90840-5005, Long Beach, CA, USA

    Bruce Torby

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© 1991 Springer-Verlag Berlin Heidelberg

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Hamano, F. (1991). Robust Control of Robotic Manipulators. In: Jordanides, T., Torby, B. (eds) Expert Systems and Robotics. NATO ASI Series, vol 71. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-76465-3_25

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  • DOI: https://doi.org/10.1007/978-3-642-76465-3_25

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-76467-7

  • Online ISBN: 978-3-642-76465-3

  • eBook Packages: Springer Book Archive

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