%0 Journal Article
%T Variable Structure Control of Robot Manipulator with Adaptive Feedforward COmpensator and its Implementation<br>机械手的自适应前馈补偿变结构控制及其微机实现
%A Liang Tianpei
%A Zhou Qijie
%A Su Chunyi
%A <br>梁天培
%A 周其节
%A 苏春翌
%J 自动化学报
%D 1991
%I 
%X In order to realize high-speed, high-precision control of robot manipulators, a new robust control algorithm is proposed by coupling the adaptive feedforward compensator to the variable structure control. Real-time control results show the validity and feasibility of the presented method.
%K Robot manipulator
%K variable structure control
%K feedforward compensation
%K application<br>机械手
%K 前馈补偿
%K 变结构控制
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=E76622685B64B2AA896A7F777B64EB3A&aid=EF9AB9F80418B86FFA85DA3CAF60AB2D&yid=116CB34717B0B183&vid=BCA2697F357F2001&iid=94C357A881DFC066&sid=20ADD38F841C6A4B&eid=323E8A365B085E0B&journal_id=0254-4156&journal_name=自动化学报&referenced_num=0&reference_num=0