{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2023,10,22]],"date-time":"2023-10-22T20:37:43Z","timestamp":1698007063799},"reference-count":32,"publisher":"Wiley","issue":"1","license":[{"start":{"date-parts":[[2007,3,13]],"date-time":"2007-03-13T00:00:00Z","timestamp":1173744000000},"content-version":"vor","delay-in-days":7345,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["J. Robotic Syst."],"published-print":{"date-parts":[[1987,2]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p><jats:italic>Nonlinear feedback control<\/jats:italic> algorithms for manipulators utilize a complete (coupled and nonlinear) dynamic robot model to decouple the robot joints. In the companion article<jats:sup>1<\/jats:sup> we outlined the practical problems introduced by modeling inaccuracies, unmodeled dynamics and parameter errors. We then introduced the \u03b1\u2010<jats:italic>computed\u2010torque<\/jats:italic> nonlinear feedback control algorithm which is <jats:italic>robust<\/jats:italic> in the presence of the aforementioned error sources. In this article, we apply the insight gained from the \u03b1\u2010computed\u2010torque algorithm to design a robust discrete\u2010time (accelerometer\u2010free) computed\u2010torque robot\u2010control algorithm founded upon our discrete dynamic robot model.<jats:sup>2<\/jats:sup> Numerical experiments with the cylindrical robot confirm both the robust disturbance rejection characteristics and the practical applicability of our discrete\u2010time computer\u2010torque control algorithm.<\/jats:p>","DOI":"10.1002\/rob.4620040108","type":"journal-article","created":{"date-parts":[[2007,7,6]],"date-time":"2007-07-06T05:46:17Z","timestamp":1183700777000},"page":"115-143","source":"Crossref","is-referenced-by-count":19,"title":["Robust discrete nonlinear feedback control for robotic manipulators"],"prefix":"10.1002","volume":"4","author":[{"given":"Charles P.","family":"Neuman","sequence":"first","affiliation":[]},{"given":"Vassilios D.","family":"Tourassis","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2007,3,13]]},"reference":[{"key":"e_1_2_1_2_2","doi-asserted-by":"publisher","DOI":"10.1049\/ip-d.1985.0026"},{"key":"e_1_2_1_3_2","doi-asserted-by":"publisher","DOI":"10.1109\/TSMC.1985.6313349"},{"key":"e_1_2_1_4_2","volume-title":"Robot Manipulators\u2014Mathematics, Programming and Control","author":"Paul R. 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