Electrical & Computer Engineering Faculty Publications

Document Type

Article

Publication Date

5-23-1990

Abstract

In this paper, we show that feedback-linearization in conjunction with the passivity property of rigid robots can guarantee the robustness of the closed-loop robotic system despite large uncertainties in the inertia matrix. The approach may be extended to the case of uncertain velocity-dependent terms under additional assumptions.

Publisher

IEEE

Publication Title

American Control Conference

First Page

991

Last Page

992

Language (ISO)

English

Sponsorship

IEEE

Keywords

Awards Planning & Policy Committee, Control design, Design engineering

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