DocumentCode
3117784
Title
Set-point regulation for a robot with model uncertainties
Author
Arogeti, Shai ; Berman, Nadav
Author_Institution
Dept. of Mech. Eng., Ben-Gurion Univ. of the Negev, Beer-Sheva, Israel
fYear
2000
fDate
2000
Firstpage
289
Lastpage
292
Abstract
We introduce a smooth linear control algorithm for the set-point regulation of a robot with uncertainties in its mathematical model. This control algorithm incorporates position measurement only, while compensating for the unknown gravity forces. We also discuss its performance in comparison to other algorithms with similar structure
Keywords
asymptotic stability; compensation; linear systems; matrix algebra; position control; position measurement; robot dynamics; uncertain systems; gravity forces compensation; model uncertainties; position measurement; set-point regulation; smooth linear control algorithm; Control system synthesis; Control systems; Force control; Gravity; Mathematical model; Orbital robotics; PD control; Position measurement; Robots; Uncertainty;
fLanguage
English
Publisher
ieee
Conference_Titel
Electrical and electronic engineers in israel, 2000. the 21st ieee convention of the
Conference_Location
Tel-Aviv
Print_ISBN
0-7803-5842-2
Type
conf
DOI
10.1109/EEEI.2000.924398
Filename
924398
Link To Document