2-DOF Joint Robot Trajectory Control System Based on Port-Controlled Hamiltonian and PD Algorithm Coordinate Control

CHI Jie-ru, YU Hai-sheng, YANG Jie, NIU Huan, ZHANG Qi-gao

Control Engineering of China ›› 2019, Vol. 26 ›› Issue (5) : 916-921.

Control Engineering of China ›› 2019, Vol. 26 ›› Issue (5) : 916-921.

2-DOF Joint Robot Trajectory Control System Based on Port-Controlled Hamiltonian and PD Algorithm Coordinate Control

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{{article.zuoZheEn_L}}. {{article.title_en}}[J]. {{journal.qiKanMingCheng_EN}}, 2019, 26(5): 916-921

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