Fundamental properties of rigid serial manipulators for control design

Y. H. Chen, C. Y. Kuo

Research output: Contribution to journalConference articlepeer-review

4 Scopus citations


We investigate certain fundamental properties of serial-link mechanical manipulators, as related to the control design. The manipulator has rigid links with revolute and/or prismatic joints. These properties include the upper bounds of the inertia matrix. Coriolis and centrifugal term, and gravitational term. As an illustrative example, a robust control is proposed based on this analysis. The generic properties are also readily applicable to other control designs.

Original languageEnglish (US)
Pages (from-to)3003-3007
Number of pages5
JournalProceedings of the American Control Conference
StatePublished - 1999
Externally publishedYes
EventProceedings of the 1999 American Control Conference (99ACC) - San Diego, CA, USA
Duration: Jun 2 1999Jun 4 1999

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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