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Original Articles

Robust control of robot arms including motor dynamics

Pages 853-873 | Received 22 Apr 1992, Accepted 23 Oct 1992, Published online: 15 Mar 2007

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Read on this site (4)

JoséL. Avendaño-Juárez, VictorM. Hernández-Guzmán & Ramón Silva-Ortigoza. (2010) Velocity and Current Inner Loops in a Wheeled Mobile Robot. Advanced Robotics 24:8-9, pages 1385-1404.
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Gwang-Seok Park & Dong-Hwan Hwang. (2002) Robust controller design for a class of nonlinear robot manipulators with actuator dynamics. International Journal of Systems Science 33:7, pages 557-565.
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J. HU, D. M. DAWSON, P. VEDAGARBHA & H. CANBOLAT. (1997) A global adaptive link position-tracking controller for robot manipulators driven by induction motors. International Journal of Systems Science 28:7, pages 625-642.
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H. CANBOLAT, J. HU & D. M. DAWSON. (1996) A hybrid learning/adaptive partial state feedback controller for RLED robot manipulators. International Journal of Systems Science 27:11, pages 1123-1132.
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Articles from other publishers (36)

Zhaodong Wang, Lixue Mei & Xiaoqun Ma. (2024) A novel generalized sliding mode controller for uncertain robot manipulators based on motion constraints. Mechanical Sciences 15:1, pages 55-62.
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Yong Feng, Minghao Zhou, Xinghuo Yu & Fengling Han. (2018) Full‐Order Sliding‐Mode Control of Rigid Robotic Manipulators. Asian Journal of Control 21:3, pages 1228-1236.
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An-Chyau Huang. (2018) A new adaptive controller for robot manipulators considering actuator dynamics. A new adaptive controller for robot manipulators considering actuator dynamics.
Seyed Mohammad Ahmadi & Mohammad Mehdi Fateh. (2018) Sliding Mode Control of Electrically-Driven Robot Manipulators Using an Adaptive Taylor Series Approximator. Sliding Mode Control of Electrically-Driven Robot Manipulators Using an Adaptive Taylor Series Approximator.
Zhijun Li, Yuanqing Xia, Dehong Wang, Di-Hua Zhai, Chun-Yi Su & Xingang Zhao. (2016) Neural Network-Based Control of Networked Trilateral Teleoperation With Geometrically Unknown Constraints. IEEE Transactions on Cybernetics 46:5, pages 1051-1064.
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Di-Hua Zhai & Yuanqing Xia. (2015) Robust saturation-based control of bilateral teleoperation without velocity measurements. International Journal of Robust and Nonlinear Control 25:15, pages 2582-2607.
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Hao Liu, Jianxiang Xi & Yisheng Zhong. (2014) Robust motion control of quadrotors. Journal of the Franklin Institute 351:12, pages 5494-5510.
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V. M. Hernández-Guzmán, V. Santibáñez & R. Campa. (2009) PID control of robot manipulators equipped with brushless DC motors. Robotica 27:2, pages 225-233.
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A.R.N. Ravari & H.D. Taghirad. (2009) A novel hybrid Fuzzy-PID controller for tracking control of robot manipulators. A novel hybrid Fuzzy-PID controller for tracking control of robot manipulators.
Victor M. Hernández-Guzmán, Victor Santibáñez & Valentín Carrillo. (2008) PID Controllers for Robots Equipped with Brushed DC-Motors Revisited. IFAC Proceedings Volumes 41:2, pages 11684-11689.
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Chao Liu, Chien Cheah & Jean-jacques Slotine. (2006) Adaptive Jacobian PID Regulation for Robots with Uncertain Kinematics and Actuator Model. Adaptive Jacobian PID Regulation for Robots with Uncertain Kinematics and Actuator Model.
Chao Liu, Chien Chern Cheah & Jean-Jacques E. Slotine. (2006) Adaptive Jacobian tracking control of rigid-link electrically driven robots based on visual task-space information. Automatica 42:9, pages 1491-1501.
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Jae Pil Hwang & Euntai Kim. (2006) Robust tracking control of an electrically driven robot: adaptive fuzzy logic approach. IEEE Transactions on Fuzzy Systems 14:2, pages 232-247.
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S. Gopinath, I.N. Kar & R.K.P. Bhatt. (2006) Associated Hermite series based Iterative Learning Control with Experience inclusion using Local Learning Approach. Associated Hermite series based Iterative Learning Control with Experience inclusion using Local Learning Approach.
Chao Liu & Chien Chern Cheah. (2005) Task-space adaptive setpoint control for robots with uncertain kinematics and actuator model. IEEE Transactions on Automatic Control 50:11, pages 1854-1860.
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Chao Liu & Chien Chern Cheah. (2005) Adaptive Regulation of Rigid-Link Electrically Driven Robots with Uncertain Kinematics. Adaptive Regulation of Rigid-Link Electrically Driven Robots with Uncertain Kinematics.
S. Gopinath & I.N. Kar. (2004) Iterative learning control scheme for manipulators including actuator dynamics. Mechanism and Machine Theory 39:12, pages 1367-1384.
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M. Oya, C.-Y. Su & T. Kobayashi. (2004) State Observer-Based Robust Control Scheme for Electrically Driven Robot Manipulators. IEEE Transactions on Robotics 20:4, pages 796-804.
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C. Liu, C.C. Cheah & H.C. Liaw. (2004) Adaptive regulation of robots using approximate models. Adaptive regulation of robots using approximate models.
Yeong‐Chan Chang. (2002) Adaptive tracking control for electrically‐driven robots without overparametrization. International Journal of Adaptive Control and Signal Processing 16:2, pages 123-150.
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A. Ailon, R. Lozano & M.I. Gil'. (2000) Iterative regulation of an electrically driven flexible-joint robot with model uncertainty. IEEE Transactions on Robotics and Automation 16:6, pages 863-870.
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L. Beji, A. Abichou & M. Pascal. (1998) Tracking control of a parallel robot in the task space. Tracking control of a parallel robot in the task space.
Bor-Sen Chen, Huey-Jian Uang & Chung-Shi Tseng. (1998) Robust tracking enhancement of robot systems including motor dynamics: a fuzzy-based dynamic game approach. IEEE Transactions on Fuzzy Systems 6:4, pages 538-552.
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Chen-Yi Su & Y. Stepanenko. (1998) Redesign of hybrid adaptive/robust motion control of rigid-link electrically-driven robot manipulators. IEEE Transactions on Robotics and Automation 14:4, pages 651-655.
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Amit Ailon, Michael Gil & Byung-Ha Ahn. (1998) A study on the time-response functions of robot models incorporating actuator dynamics with applications to estimator design. Nonlinear Analysis: Theory, Methods & Applications 31:1-2, pages 99-115.
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L. Beji, M. Pascal, P. Joli & A. Abichou. (1997) Tracking Control of a Parallel Robot with Estimated State Feedback. IFAC Proceedings Volumes 30:20, pages 417-422.
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A. Ailon, R. Lozano-Leal & M. Gil'. (1997) Point-to-point regulation of a robot with flexible joints including electrical effects of actuator dynamics. IEEE Transactions on Automatic Control 42:4, pages 559-564.
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Chun-Yi Su & Y. Stepanenko. (1997) Redesign of hybrid adaptive/robust motion control of rigid-link electrically-driven robot manipulators. Redesign of hybrid adaptive/robust motion control of rigid-link electrically-driven robot manipulators.
L. Beji, A. Abichou, P. Joli & M. Pascal. 1997. ROMANSY 11. ROMANSY 11 45 52 .
R. Colbaugh & K. Glass. (1996) Decentralized adaptive control of electrically-driven manipulators. Computers & Electrical Engineering 22:6, pages 383-401.
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R. Colbauch, K. Glass & K. Wedeward. (1996) Decentralized Adaptive Stabilization and Tracking Control of Electrically-Driven Manipulators. IFAC Proceedings Volumes 29:1, pages 253-258.
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R. Colbaugh, K. Glass & E. Barany. (1996) Adaptive stabilization and tracking control of electrically driven manipulators. Journal of Robotic Systems 13:4, pages 203-217.
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R. Colbaugh, K. Glass & K. Wedeward. (1996) Adaptive compliance control of electrically-driven manipulators. Adaptive compliance control of electrically-driven manipulators.
Magdi S. Mahmoud & Samir Kotob. (1995) A robust control scheme for asymptotic tracking of robot motion. Journal of Intelligent & Robotic Systems 14:3, pages 263-282.
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R. Colbaugh & K. Glass. (1995) Adaptive regulation of rigid-link electrically-driven manipulators. Adaptive regulation of rigid-link electrically-driven manipulators.
R. Colbaugh & K. Glass. (1995) Adaptive tracking control of rigid-link electrically-driven manipulators. Adaptive tracking control of rigid-link electrically-driven manipulators.

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