Abstract
In the original paper by J.K. Mills (ibid., vol.8, p. 119-26, 1992), a singularly perturbed model of an elastic-joint robotic manipulator has been presented. The author shows that the expression of the boundary layer subsystem is incorrect. The correct expression is given and it is shown that, for a control system designed for rigid robots, the uniform exponential stability of the boundary layer system, required for the application of Tikhonov's theorem, can still be proven.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
