A simple, explicit condition on the inverse inertia matrix of robot manipulators is found to be
necessary and sufficient for a system of decentralized joint controllers to be robust to …

A comparative study of the performance of two robust outer loop controllers designed on the
basis of Lyapunov methods and sliding mode control is presented. Control law smoothing …

A new discontinuous robust control law for a rigid manipulator with bounded parameter
uncertainties to track a desired trajectory, is presented. Global exponential stability is proved …

En la actualidad el diseño de controladores de movimiento para robots manipuladores se
centra en el desarrollo de nuevas estrategias que permitan obtener una mayor precisión …

In this paper, the typical controls developed for manipulators are overviewed. We propose a
decentralized control algorithm using real-time disturbance compensator that realize high …