DocumentCode
2020673
Title
On the application of a new method for fast and robust position control of industrial robots
Author
Kuntze, H. ; Jacubasch, A. ; Hirsch, U. ; Richalet, J. ; Arber, Ch
Author_Institution
Fraunhofer-Inst. for Inf. & Data Process., Karlsruhe, West Germany
fYear
1988
fDate
24-29 Apr 1988
Firstpage
1574
Abstract
A concept called predictive functional control (PFC) is presented for industrial robot (IR) control. It provides excellent control performance, a high accuracy even for fast trajectories, an outstanding tracking quality for sharp contour deviations, and a very good robustness with respect to parameter variations. It is shown that PFC can be implemented on conventional IR control systems. The performance is demonstrated by several experimental results
Keywords
control system analysis; industrial robots; position control; stability; industrial robots; predictive functional control; robust position control; robustness; sharp contour deviations; stability; tracking; Control systems; Costs; Hardware; Industrial control; Manufacturing; Position control; Robust control; Robustness; Service robots; Uncertainty;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location
Philadelphia, PA
Print_ISBN
0-8186-0852-8
Type
conf
DOI
10.1109/ROBOT.1988.12290
Filename
12290
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