A. Andreev, O. Peregudova, Lubov Tahtenkova, Lubov V. Kolegova
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On Output Feedback Control Problems of an Industrial Robot Manipulator
The paper considers the motion control problem of a three-link manipulator. The solution to this problem is important for constructing the models of industrial robot manipulators such as PUMA 560. New results on the stationary motions stabilization of a three-link manipulator are obtained by means of bounded control torques without velocity measurement. The application of the proposed control schemes is demonstrated by numerical simulation results.
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