Proportional Retarded Control of Robot Manipulators

In the present contribution, a methodology to solve the tracking control problem of robot manipulators through the use of a Proportional Retarded plus Gravity (PR+G) compensation scheme is presented. The main advantage of the proposal is to avoid the necessity of velocity measurements or their estim...

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Bibliographic Details
Main Authors: Mario Ramirez-Neria, Gilberto Ochoa-Ortega, Alberto Luviano-Juarez, Norma Lozada-Castillo, Miguel Angel Trujano-Cabrera, Juan Pablo Campos-Lopez
Format: Article
Language:English
Published: IEEE 2019-01-01
Series:IEEE Access
Subjects:
Online Access:https://ieeexplore.ieee.org/document/8610222/