DocumentCode
231551
Title
Control system of robot manipulator using linear time-varying controller design technique
Author
Kemmotsu, Masakatsu ; Mutoh, Yasuhiko
Author_Institution
Sophia Univ., Tokyo, Japan
fYear
2014
fDate
28-30 July 2014
Firstpage
3746
Lastpage
3751
Abstract
This paper concerns with the control system of the robot manipulator in wide range of variables. For such a problem, the gain scheduling or robust control strategy based on several linear time-invariant approximate model or nonlinear control strategy are the most commonly used. In this paper, we apply a linear time varying controller based on the linear time-varying approximate model around some desired manipulator trajectory, to the robot manipulator.
Keywords
approximation theory; control system synthesis; linear systems; manipulators; nonlinear control systems; robust control; scheduling; time-varying systems; gain scheduling; linear time-invariant approximate model; linear time-varying approximate model; linear time-varying controller design technique; manipulator trajectory; nonlinear control strategy; robot manipulator control system; robust control strategy; Joints; Manipulators; Mathematical model; Time-varying systems; Trajectory; Vectors; linear time-varying system; pole placement; robot manipulator;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Conference (CCC), 2014 33rd Chinese
Conference_Location
Nanjing
Type
conf
DOI
10.1109/ChiCC.2014.6895563
Filename
6895563
Link To Document