摘要 : This paper proposes a framework called nonlinear robust internal-loop compensator that enables us to bring nonlinear optimality to robot controllers in a unified and simple way. Using the framework, a controller designed for the ... 展开
作者 | Kim~ Min Jun Choi~ Youngjin Chung~ Wan Kyun |
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作者单位 | |
期刊名称 | 《Robotics, IEEE Transactions on》 |
页码/总页数 | 682-698 / 17 |
语种/中图分类号 | 英语 / TP |
关键词 | Force control H∞ control H??? control motion control robot control robust control |
馆藏号 | IELEP0221 |