科研之友
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摘要
A performance evaluation of three fault-tolerant controllers based on hyperbolic sine and cosine, computed torque, and adaptive inertia control techniques applied to manipulator robots is presented. Various tests are carried out in a simulation environment developed by means of MatLab/Simulink programming tools, in which the manipulator must follow a desired trajectory and one of its actuators is blocked. The results are obtained by means of curves and rms index of joint and Cartesian errors for each controller.
- 出版日期2013-12
