Robust control of robot manipulators using a decentralized control sheme

분산화 제어 기법을 이용한 로봇 매니퓰레이터의 강인 제어

This paper presents the robust control of robot manipulators using a decentralized control scheme. The control scheme decouples the coupling dynamics between the joints and compensates the joint variable errors without any computation of the dynamics. The performance of the control scheme is compared with that of other control schemes such as the computed torque scheme and the adaptive control scheme by simulation.