Kim, Jung Hoon Oh, Yonghwan Hur, Sung-moon 2024-01-19T11:09:18Z 2024-01-19T11:09:18Z 2022-02-28 2016-12 2474-2317 https://pubs.kist.re.kr/handle/201004/114689 This paper is concerned with the maximum tracking errors in PD-controlled robotic manipulators. In other words, a method for designing a linear tracking proportional-derivative (PD) controller is proposed in this paper, by which the closed-loop system consisting of a robotic manipulator and the PD controller is to be stable in the presence of bounded unknown disturbances and/or model uncertainties. This paper further provides a method of the L-infinity norm analysis of the associated tracking errors, which corresponds to evaluating the maximum value of the errors in the time-domain. The the validity of the proposed method is demonstrated through a experimental studyx with a typical 3-degrees of freedom (3-DOF) robotic manipulator. English IEEE Maximum Tracking Errors in PD-Controlled Robotic Manipulators Conference 1 IEEE/SICE International Symposium on System Integration (SII), pp.676 - 681 IEEE/SICE International Symposium on System Integration (SII) 676 681 US Sapporo, JAPAN 2016-12-13 2016 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII) 000401914000110 2-s2.0-85015453109