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...
Main Authors: | , , , , , |
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Format: | Article |
Language: | English |
Published: |
IEEE
2019-01-01
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Series: | IEEE Access |
Subjects: | |
Online Access: | https://ieeexplore.ieee.org/document/8610222/ |