@article{oai:ous.repo.nii.ac.jp:00000942,
 author = {逢坂, 一正 and Ohsaka, Kazumasa and 藤本, 真作 and Fujimoto, Shinsaku},
 journal = {岡山理科大学紀要. A, 自然科学, Bulletin of Okayama University of Science. A, Natural Sciences},
 month = {Mar},
 note = {P(論文), In this paper, we propose a robust control scheme which achieves trajectory tracking with prescribed accuracy for robot manipulators with bounded unknown parameters and different characteristics of servo-motor for direction of the rotation. This scheme is based on Lyapunov stability theorem, and the Liapunov function is constructed using the inertia matrix. The control law takes a very simple form based on the assumption that the dynamic equation can be expressed as a sum of products of unobservable matrices which contain unknown parameters and observable state vectors. The effectiveness of the proposed control scheme is shown by experimental results using a 2 degree-of-freedom manipulator.},
 pages = {163--175},
 title = {ロボットマニピュレータのロバストな軌道制御},
 volume = {27},
 year = {1992},
 yomi = {オオサカ, カズマサ and フジモト, シンサク}
}