@article{oai:u-fukui.repo.nii.ac.jp:00024407,
 author = {ASAKURA, Toshiyuki and FUKUYA, Hideshi and DANNO, Masaru},
 issue = {1},
 journal = {福井大学工学部研究報告},
 month = {Mar},
 note = {This paper is concerned with the control strate-gy of a robot manipulator system. In designing the control strategy, there will be always some differ-ence between the actual behavior of the physical system and that predicted by the mathematical model. This difference brings the unstable behavior to the system. Then, it is important to assure a deg-ree of "robustness" or immunity to uncertainty or changes in the system parameters. First, in order to implement the robust control, the model reference adaptive control theory is applied to the linearlized manipulator system. Next, through the simulation studies, it is clari-fied that the stability of the system is not lost by parameters change but lost under torque constraints. Finally, the sensitivity analysis is applied to the investigation of the influence of parameter difference from nominal values on the dynamics of a robot manipulator. Through this analysis, we can find which parameters really influence to the manipulator control and which do not.},
 pages = {75--88},
 title = {Robust Control and Sensitivity Analysis of 2-link Manipulator under Torque Constraints},
 volume = {37},
 year = {1989}
}