Control of A 2 D.O.F direct drive robot arm using integral sliding mode control

High accuracy trajectory tracking is a very challenging topic in direct drive robot control. This is due to the nonlinearities and input couplings present in the dynamics of the robot arm. This thesis is concerned with the problems of modelling and control of a 2 degree of freedom direct drive...

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Bibliographic Details
Main Author: KSM Kader Ibrahim, Babul Salam
Format: Thesis
Published: 2004
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