A controller based on coefficient diagram method for the robotic manipulators

UCAR A., Hamamci S. E.

7th IEEE International Conference on Electronics, Circuits and Systems, JOUNIEH, Lübnan, 17 - 19 Aralık 2000, ss.777-780 identifier identifier

  • Cilt numarası:
  • Doi Numarası: 10.1109/icecs.2000.912992
  • Basıldığı Şehir: JOUNIEH
  • Basıldığı Ülke: Lübnan
  • Sayfa Sayıları: ss.777-780


In this paper a controller based on coefficient diagram method is introduced developed for robotic manipulators. The significant property of this controller is the designer can design the controller simultaneously taking a good balance of stability, response, and robustness. The closed loop performance is illustrated for a manipulator with a bounded disturbance.