Crc Press - Mechanical Engineering Handbook - Robotics 1 Part 7 doc

14-60 Section 14 © 1999 by CRC Press LLC techniques, providing good performance that can be mathematically proven and so relied upon in applications. Such advanced techniques also extend directly to more complicated control objectives such as force control for grinding, polishing, and so on where straight PD methods are inadequate. There are many sorts of adaptive and robust controllers (Lewis et al., 1993). A unifying design technique is presented here that extends as well to intelligent control using neural network and fuzzy FIGURE 14.7.8 Joint 2 control torque using digital computed-torque controller, T = 20 msec. FIGURE 14.7.9 Joint tracking errors using digital computed-torque controller, T = 100 msec. . 1 4-6 0 Section 14 © 19 99 by CRC Press LLC techniques, providing good performance that can be mathematically proven. al., 19 93). A unifying design technique is presented here that extends as well to intelligent control using neural network and fuzzy FIGURE 14 .7. 8 Joint 2 control torque using digital computed-torque. using digital computed-torque controller, T = 20 msec. FIGURE 14 .7. 9 Joint tracking errors using digital computed-torque controller, T = 10 0 msec.