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292 Robust Control of Robotic Manipulators
Figure 5.2.9: (a) errors of joints 1 and 2; (b) torques of joints 1 and 2.
On the other hand, there exists other types of controllers, which although
less prevalent, still constitute a very important class of robot compensators.
These are nonlinear controllers which do not rely directly on the feedback
linearizability of the robot. Instead, the may be obtained from the passivity
of its dynamics or may even bypass any special structural properties of the
robot. These controllers are discussed next.
Copyright © 2004 by Marcel Dekker, Inc.
