Robust joint position feedback control of robot manipulators

Keyphrases

• Computed Torque Control 50%
• Control Loop 50%
• Control Performance 50%
• Controller 100%
• Direct Substitution 50%
• Dynamic Uncertainty 50%
• Experimental Verification 50%
• Globally Asymptotically Stable 50%
• Joint Position 100%
• Joint Velocity 100%
• Low Speed 50%
• Manipulator 50%
• Model Uncertainty 100%
• Motion Controller 100%
• Parameter Variation 50%
• Performance Margin 50%
• Phase-lag 50%
• Position Feedback 50%
• Position Feedback Control 100%
• Proportional-integral-derivative Controller 50%
• Robot Control 100%
• Robot Manipulator 100%
• Robust Control 50%
• Robustness Margin 50%
• Sensor Resolution 50%
• Stable System 50%
• Velocity Estimate 100%
• Velocity Estimator 100%
• Velocity Feedback 50%

Engineering

• Control Loop 25%
• Feedback Control 100%
• Joints (Structural Components) 100%
• Manipulator 25%
• Model Parameter 25%
• Model Uncertainty 50%
• Parameter Variation 25%
• Phase Lag 25%
• Robot Manipulator 100%

Mathematics

• Feedback Control 100%