DocumentCode
3341938
Title
Robot control with disturbance observers
Author
Gorez, R. ; Galardini, D.
Author_Institution
Univ. Catholique de Louvain, Lab. d´´Autom., Dynamique et Anal. des Syst., Belgium
fYear
1991
fDate
19-22 June 1991
Firstpage
417
Abstract
A control system consisting of a bank of single input single output controllers and disturbance observers is proposed for the positional control of multidegree of freedom manipulators. Stability of this control system is analysed and relationships between the manipulator characteristics, the closed-loop bandwidths and bounds on the stability region are derived.<>
Keywords
robots; stability criteria; SISO control; closed-loop bandwidths; disturbance observers; manipulator characteristics; multidegree of freedom manipulators; positional control; robot control; single input single output controllers; stability region bounds; Bandwidth; Control systems; Manipulator dynamics; Motion control; PD control; Pi control; Proportional control; Robot control; Stability analysis; Torque control;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on
Conference_Location
Pisa, Italy
Print_ISBN
0-7803-0078-5
Type
conf
DOI
10.1109/ICAR.1991.240617
Filename
240617
Link To Document