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Variable structure control of robot manipulator with adaptive feedforward compensator and its implementation. (Chinese. English summary) Zbl 0734.70004
Summary: In order to realize high-speed, high-precision control of robot manipulators, a new robust control algorithm is proposed by coupling the adaptive feedforward compensator to the variable structure control. Real- time control results show the validity and feasibility of the presented method.

MSC:
70B15 Kinematics of mechanisms and robots
93C40 Adaptive control/observation systems
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