• Journal of the Korean Society of Industry Convergence
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• v.22 no.6
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• pp.807-819
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• 2019

In this paper, it is proposed a new approach to motion control and kinematics analysis of articulated manipulator attachment with five degree of freedom for excavator. Unlike the well-established theory for the control of linear systems, there is little general control theory relatively for a robust control of nonlinear systems. The control technique is essential for providing a stable and robust performance for application of articulated manipulator control. The proposed control algorithm is one of robust control methods based on error informations of the position and velocity error informations using stability analysis of dynamic model. Through simulation test, the proposed control scheme is illustrated to be a efficient control technique for real-time control.