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288 Robust Control of Robotic Manipulators
is due to the fact that the velocity terms are truly negligent in this particular
application. Such terms will, however, make a more vital contribution in
faster trajectories.
Figure 5.2.7: (a) errors of joint 1; (b) errors of joint 2; (c) torques of joints 1
and 2.
Two-Degree-of-Freedom Design.
It is well known that the two-DOF structure is the most general linear
controller structure. The two-DOF design allows us simultaneously to specify
the desired response to a command input and guarantee the robustness of
Copyright © 2004 by Marcel Dekker, Inc.
