A Stable Control Strategy for Industrial Robots with External Feedback Loop
Gulam Dastagir Khan Huu-Thiet Nguyen Chien Chern Cheah Gulam Dastagir Khan Huu-Thiet Nguyen Chien Chern Cheah
The inner/low-level control loop of most industrial robotic manipulators is protected from any modification by a closed control architecture. The only way to specify joint inputs to them is through position or velocity commands. Furthermore, the inner controller is unknown/uncertain, as it is not revealed to the user. This makes it very difficult to determine the configuration of the inner control...