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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Qing Hua Xia Ser Yong Lim Ang Jr., M.H. Tao Ming Lim |
| Copyright Year | 2003 |
| Description | Author affiliation: Singapore Inst. Manuf. Technol., Nanyang, Singapore (Qing Hua Xia; Ser Yong Lim) |
| Abstract | This paper presents an operational space output feedback controller for non-redundant robot manipulators to achieve trajectory tracking without velocity measurements. The overall system can achieve a semi-global exponential stability (SGES) result for the position, orientation and velocity tracking errors as well as velocity observation errors. Experimental results of the proposed controller indicate good position and orientation tracking performance under parametric uncertainty and payload variations. |
| Sponsorship | IEEE Robotics & Autom. Soc. IEEE Ind. Electron. Soc. Robotics Soc. Japan Soc. Instrum. & Control Eng. New Technol. Found |
| Starting Page | 2761 |
| Ending Page | 2766 |
| File Size | 344349 |
| Page Count | 6 |
| File Format | |
| ISBN | 0780378601 |
| DOI | 10.1109/IROS.2003.1249288 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2003-10-27 |
| Publisher Place | USA |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Output feedback Extraterrestrial measurements Velocity control Robot control Orbital robotics Manipulators Trajectory Velocity measurement Stability Payloads |
| Content Type | Text |
| Resource Type | Article |
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