Читать книгу Robot Modeling and Control - Mark W. Spong - Страница 42

In Chapter 9 we discuss more advanced control techniques based on the Lagrangian dynamic equations of motion derived in Chapter 6. We introduce the notion of inverse dynamics control as a means for compensating the complex nonlinear interaction forces among the links of the manipulator. Robust and adaptive control of manipulators are also introduced using the direct method of Lyapunov and so-called passivity-based control.