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This work focuses on robust nonlinear control design of a robot arm with micro-hand by using operator-based robust right coprirne factorization (RRCF) approach. In detail, to control the precise endpoint position of robot arm and obtain the desired force using micro-hand according to the external environment or task involved, a connected feedback control system based on operator-based RRCF approach...
In this paper, an operator based multivariable tracking control design for a robot arm with human-simulated motion mechanism based on human multi-joint viscoelastic properties is proposed by using robust right coprime factorization approach. That is, first, considering the uncertainties of dynamic model consist of measurement error and disturbances, an operator based nonlinear robust stable control...
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