Abstract
In this paper, the control problem of the serial multi-link robotic manipulators with rigid and viscoelastic joints is considered. The manipulators structure is such that only the rigid joints are controlled by DC motors. It is shown that such robotic manipulators can make so called stationary motions wherein the part of the generalized coordinates does’t change in time and the others change according to a linear law. The robust output feedback controllers are obtained for the robotic manipulators such that the stationary motion is locally, semi-globally, and globally asymptotically stable.
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