In this paper we present an experimental comparison of recent passivity based robust control algorithms on a two-link direct-drive robot arm. The manipulator is actuated with high-torque brushless DC motors and is controlled by a digital signal processor (DSP) development system interfaced to a PC486 workstation. Four algorithms are compared with respect to ease of design, implementation, and performance of the closed-loop systems.
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Jaritz et al. (1996) studied this question.
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