Constraint-Following Servo Control for the Trajectory Tracking of Manipulator with Flexible Joints and Mismatched Uncertainty
Trajectory tracking is a common application method for manipulators. However, the tracking performance is hard to improve if the manipulators contain flexible joints and mismatched uncertainty, especially when the trajectory is nonholonomic. On the basis of the Udwadia–Kalaba Fundamental Equation (U...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2021-09-01
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| Series: | Machines |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2075-1702/9/9/202 |