Variable Structure Control of Robot Manipulator with Adaptive Feedforward COmpensator and its Implementation
机械手的自适应前馈补偿变结构控制及其微机实现

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.