Robust nonlinear decentralized control of robot manipulators
A new decentralized nonlinear controller for Robot Manipulators is presented in this thesis. Based on concepts of Lyapunov stability theory and some control ideas proposed in [3]-[7], we obtain continuous nonlinear decentralized control laws which guarantee position and velocity tracking to within a...
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| Language: | en_US |
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2013
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| Online Access: | http://hdl.handle.net/1957/36919 |