Rai-Wung Park

Nonlinearity Estimation and Compensation for Robust Paths and Forces Control of Robot

Rai-Wung Park · Current Journal of Applied Science and Technology · 2015

For the control of nonlinear robot dynamics a centralized design method so called the method of the exact linearization and decoupling by state feedback is often used. This method has the disadvantage in that an extra out-loop robust control design is needed to handle varied oper...