Shay Ping T. Wang, C. Y. Kuo

Research output: Contribution to conferencePaperpeer-review

3 Scopus citations


A new nonlinear robot control scheme is proposed in this paper which is robust against modeling error and unknown disturbance. The control input consists of a nonlinear part and a linear part. The nonlinear part decouples robot dynamics to obtain a set of equations in terms of each joint's input and output; the linear part applies robust servomechanism theory to suppress effects of modeling error and unknown disturbance. The nonlinear part can be calculated by using recursive Newton-Euler formulas or parallel processing hardware, and the linear part by dedicated, localized microprocessors; therefore, this methodology is computationally efficient, and is applicable to general robot configuration. The scheme is applied to control a two-joint, SCARA-type robot.

Original languageEnglish (US)
Number of pages8
StatePublished - Dec 1 1987
Externally publishedYes

ASJC Scopus subject areas

  • Software
  • Mechanical Engineering


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