APPLICATION OF ROBUST DETERMINISTIC CONTROL TO ROBOTIC MANIPULATORS

被引：0

作者：

KANG, CG ^{[1
]}

HOROWITZ, R ^{[1
]}

LEITMANN, G ^{[1
]}

机构：

[1] UNIV CALIF BERKELEY,DEPT MECH ENGN,BERKELEY,CA 94720

来源：

LECTURE NOTES IN CONTROL AND INFORMATION SCIENCES | 1991年 / 151卷

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：

This paper presents an application of the robust deterministic control scheme proposed in [6] to the tracking control of robotic manipulators. Inertia variations due to kinematic changes, unknown and time-varying payload, Coriolis and centrifugal accelerations, and friction and gravitational disturbances are considered as uncertainties in the formulation. ''Parasitic'' actuator and sensor dynamics of the manipulator system are considered in the controller design and analysis by means of a singular perturbation technique. Simulation and experimental studies have been conducted for a two degree of freedom, direct drive SCARA manipulator to evaluate the performance of the control scheme proposed in [6] and the method of application presented in this paper.

引用

页码：216 / 228

页数：13

共 50 条

[1] A Tutorial on Robust Control, Adaptive Control and Robust Adaptive Control-Application to Robotic Manipulators
Wei, Bin
[J]. INVENTIONS, 2019, 4 (03)
[2] ROBUST ESTIMATION AND CONTROL OF ROBOTIC MANIPULATORS
QU, ZH
DAWSON, DM
DORSEY, JF
DUFFIE, JD
[J]. ROBOTICA, 1995, 13 : 223 - 231
[3] Robust calibration and control of robotic manipulators
Calafiore, G
Indri, M
[J]. PROCEEDINGS OF THE 2000 AMERICAN CONTROL CONFERENCE, VOLS 1-6, 2000, : 2003 - 2007
[4] Robust neural control for robotic manipulators
Barambones, O
Etxebarria, V
[J]. AUTOMATICA, 2002, 38 (02) : 235 - 242
[5] ROBUST-CONTROL OF ROBOTIC MANIPULATORS
ZOHDY, MA
FADALI, MS
LOH, NK
[J]. PROCEEDINGS OF THE 1989 AMERICAN CONTROL CONFERENCE, VOLS 1-3, 1989, : 999 - 1004
[6] ROBUST FORCE CONTROL FOR ROBOTIC MANIPULATORS
HUANG, HP
LIN, M
[J]. INTERNATIONAL JOURNAL OF CONTROL, 1992, 56 (03) : 631 - 653
[7] Robust impedance control of robotic manipulators
Ibeas, A
de la Sen, M
[J]. 2004 43RD IEEE CONFERENCE ON DECISION AND CONTROL (CDC), VOLS 1-5, 2004, : 1258 - 1263
[8] Robust Consensus Control for Multiple Robotic Manipulators
Zhao Ge
Zhao Dongya
[J]. 2014 33RD CHINESE CONTROL CONFERENCE (CCC), 2014, : 2229 - 2233
[9] ROBUST TRACKING CONTROL FOR RIGID ROBOTIC MANIPULATORS
ZHIHONG, M
PALANISWAMI, M
[J]. IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 1994, 39 (01) : 154 - 159
[10] ROBUST CONTROL OF ROBOTIC MANIPULATORS BASED ON μ-SYNTHESIS
Moradi, Hamed
Bakhtiari-Nejad, Firooz
Sadighi, Mojtaba
Ahmadian, Mohammad T.
[J]. PROCEEDINGS OF THE 17TH INTERNATIONAL CONGRESS ON SOUND AND VIBRATION, 2010,

← 1 2 3 4 5 →