1997 年 117 巻 4 号 p. 493-500
This paper describes a new robust control of robot manipulators, which guarantees the robust stability against fluctuation of inertia matrix. In this control, the inertia matrix is calculated as computed torque from the Newton-Euler formulation. As the result, the cut-off frequency of the sensitivity function call be set much higher than one of conventional control systems such as disturbance observer based decentralized robust control system.
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