Publication | Closed Access
A new and simple algorithm for sliding mode trajectory control of the robot arm
44
Citations
4
References
1990
Year
Robot KinematicsMotion ControlRobot ControlRobotic SystemsRobot ArmSimple AlgorithmInertia MatrixAerospace EngineeringMode Trajectory ControlEngineeringFeedforward ControlMechatronicsMechanical SystemsAdvanced Motion ControlKinematicsRobotics
A simple sliding mode trajectory control of the robot arm that needs no inverse of the inertia matrix is derived. The assumptions underlying the derivation are outlined.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
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