ControlofaTwolinkManipulatorusingPIDandSlidingModeControl
Abstract—Aroboticarmhavingtwolinksisconsideredinthisreportformodelingandcontrol.Firstthedynamicmodeloftherobotisobtainedusingtheso-calledLagrangeequation,thenarobustcontrolstrategybasedontheconventionalslidingmodecontrolisintroducedtocontrolthemotionoftherobotatspecificpositionfor
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