Comments on “Tracking Control of Robotic Manipulators With Uncertain Kinematics and Dynamics”

摘要

This letter considers the paper entitled “Tracking Control of Robotic Manipulators With Uncertain Kinematics and Dynamics” by B. Xiao, S. Yin, and O. Kaynak [IEEE Trans. Ind. Electron., vol. 63, no. 10, pp. 6439–6449, Oct. 2016], where the authors meant to provide an effective control for finite-time tracking of robot manipulators with both kinematic and dynamic uncertainties. This letter points out several flaws leading to the ineffectiveness of the main result in the paper. A correction is proposed.