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A single PD plus gravity compensation control for global asymptotic regulation of robot manipulators with actuator constraints

Yuxin Su, Chunhong Zheng, Paolo Mercorelli. A single PD plus gravity compensation control for global asymptotic regulation of robot manipulators with actuator constraints. In IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2017, Munich, Germany, July 3-7, 2017. pages 130-135, IEEE, 2017. [doi]

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