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Marlon Lin

dblp:231/3191 · DBLP profile ↗
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1ranked-venue papers
0as first author
0since 2021 · last 1990
—ORCID · none

Domains — the database's venue-derived domains; a paper can count in several

Artificial intelligence and machine learning · 1Systems, architecture and hardware · 1

Expertise — from the expertise taxonomy: the topics of the expert's papers under the CCF categories. A weight counts papers with recency: 1 for a paper about the topic, 0.3 when the topic is its context, halved every five years.

Artificial intelligence
1 paper
Motion planning and robot control · 100%

Topics — the 5 heaviest of 5, each with the papers that count most for it

TopicWeightPapersLastEvidence papers
Robotics › Motion planning and robot control › robot control › model-based control
computed torque control		 0.011990
Variable structure control of constrained dynamic systems · ICRA 1990
Robotics › Motion planning and robot control
robot control		 0.011990
Variable structure control of constrained dynamic systems · ICRA 1990
Robotics › Motion planning and robot control › robot control › sliding mode control
variable structure control		 0.011990
Variable structure control of constrained dynamic systems · ICRA 1990
Robotics › Motion planning and robot control
constrained dynamic systems		 0.011990
Variable structure control of constrained dynamic systems · ICRA 1990
Robotics › Motion planning and robot control › robot control › contact control › contact task control › robot force control
contact force control		 0.011990
Variable structure control of constrained dynamic systems · ICRA 1990

Methods — techniques the papers use, named apart from their topics

variable structure control · 0.0computed torque control · 0.0
YearPublicationVenuePosition
1990 Variable structure control of constrained dynamic systems
abstract
A modified computed torque controller has been developed by N.H. McClamroch and D. Wang (1987). If the mathematical model of the robot is exact, the modified computed torque can simultaneously control the robot motion and contact force in an accurate way. However, there may exist uncertainties in the model, such as flexibility of joints and links, joint friction, and an inexact surface model. It is shown that the modified computed torque controller may result in an unstable closed-loop system for the system with uncertainties. This difficulty can be overcome by using a variable structure controller. The controller is robust in that it is insensitive to variations in the plant parameters and to external disturbances of contact force.>
Han-Pang Huang, Marlon Lin
 ICRA2