On robustness of PD control with gravity compensation of torque-driven robot manipulators

Rafael Kelly, Carmen Monroy. On robustness of PD control with gravity compensation of torque-driven robot manipulators. In International Conference on Control, Automation and Diagnosis, ICCAD 2019, Grenoble, France, July 2-4, 2019. pages 1-5, IEEE, 2019. [doi]

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