Speed Sensorless Motion Control Scheme for a Robotic Manipulator Under External Forces and Payload Changes
This paper proposes the design of a speed sensorless robust discontinuous controller for the trajectory tracking problem of a 5-DOF robotic manipulator under payload changes and torque disturbances in the joints. The developed observer-based controller is capable of performing trajectory tracking, e...
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| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2025-04-01
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| Series: | Actuators |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-0825/14/5/209 |
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