Robust control for rigid serial manipulators: A general setting

被引：0
|
作者：
Chen, YH [1 ]
Leitmann, G [1 ]
Chen, JS [1 ]
机构：
[1] Georgia Inst Technol, Sch Mech Engn, Atlanta, GA 30332 USA
来源：
PROCEEDINGS OF THE 1998 AMERICAN CONTROL CONFERENCE, VOLS 1-6 | 1998年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
We design a robust control for serial-link mechanical manipulators with revolute and/or prismatic joints. The properties of the inertia matrix are first analyzed. It is shown that the inertia matrix can indeed be used to construct Lyapunov functions, even though some of the joints are prismatic. A robust control is proposed without assuming properties of the manipulator system other than uniform positive definiteness of the inertia matrix. The generic properties of the inertia matrix are also readily applied for other control designs.
引用
收藏
页码：912 / 916
页数：5
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