An adaptive continuous sliding mode feedback linearization task space control for robot manipulators

Two main domains have been followed; joint space control and operational (task) space control for robot manipulators. Task space control is simpler than joint space control as it avoids tackling the robot inverse kinematics which is very complex and challenging. However, in order to design robust an...

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Bibliographic Details

Published in:	Ain Shams Engineering Journal
Main Authors:	Ahmed Elmogy, Wael Elawady
Format:	Article
Language:	English
Published:	Elsevier 2024-01-01
Subjects:	Robot manipulators Adaptive control SMC Feedback linearization Lyapunov theory
Online Access:	http://www.sciencedirect.com/science/article/pii/S2090447923001739