Principles and design of model-based robot controllers

Research output: Contribution to journalArticle

21 Citations (Scopus)

Abstract

Model-based control algorithms for industrial manipulators require the on-line evaluation of robot dynamics and are particularly sensitive to modelling errors. The development of a unifying framework for the analysis and design of model-based robot control strategies is the theme of this paper. In this framework, the practical problems associated with real-time implementation are highlighted and methods to improve the robustness of the closed-loop system are suggested.

Original languageEnglish
Pages (from-to)1267-1275
Number of pages9
JournalInternational Journal of Control
Volume47
Issue number5
DOIs
Publication statusPublished - 1988
Externally publishedYes

Fingerprint

Industrial manipulators
Robots
Controllers
Closed loop systems

ASJC Scopus subject areas

  • Computer Science Applications
  • Control and Systems Engineering

Cite this

Principles and design of model-based robot controllers. / Tourassis, Vassilios D.

In: International Journal of Control, Vol. 47, No. 5, 1988, p. 1267-1275.

Research output: Contribution to journalArticle

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