文章基本信息

标题：Robust trajectory tracking control of a 6-DOF robotic crusher based on dynamic compensation
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作者：Guoguang Li ; Boqiang Shi ; Ruiyue Liu 等
期刊名称：Advances in Mechanical Engineering
印刷版ISSN：1687-8140
电子版ISSN：1687-8140
出版年度：2021
卷号：13
期号：3
页码：1-12
DOI：10.1177/16878140211004292
语种：English
出版社：Sage Publications Ltd.
摘要：A robust controller is developed for the trajectory tracking control of a 6-DOF robotic crusher in task space. Firstly, the dynamic model including the mantle assembly and actuators is derived by L...
关键词：6-DOF robotic crusher; dynamic model; trajectory; computed torque controller; robust controller