ROBUST-CONTROL OF ROBOT MANIPULATORS BASED ON DYNAMICS DECOMPOSITION

Citation
Gj. Liu et Aa. Goldenberg, ROBUST-CONTROL OF ROBOT MANIPULATORS BASED ON DYNAMICS DECOMPOSITION, IEEE transactions on robotics and automation, 13(5), 1997, pp. 783-789
Citations number
17
Language
INGLESE
art.tipo
Article
Categorie Soggetti
Computer Application, Chemistry & Engineering","Controlo Theory & Cybernetics","Robotics & Automatic Control","Engineering, Eletrical & Electronic
ISSN journal
1042-296X
Volume
13
Issue
5
Year of publication
1997
Pages
783 - 789
Database
ISI
SICI code
1042-296X(1997)13:5<783:RORMBO>2.0.ZU;2-H
Abstract
This paper presents a new robust saturation-based control method for r obot manipulators and related experimental results. The proposed metho d distinguishes between uncertainty in the inertia, Coriolis and centr ipetal forces, gravity and friction. A robust compensator is designed for each type of uncertainty, and each control parameter is directly r elated to a specific behavior of the closed-loop robot system and can be adjusted accordingly. The goal is to achieve better performance by using this fine-tuning capability of the control law. The proposed con trol method has been implemented on a direct-drive robot arm. Experime nts were conducted to investigate the effectiveness of the proposed me thod, and the results are reported in this paper.