Error state controller for robotic manipulator

Author

Zhang, Yun-sheng

Author_Institution

Dept. of Autom, Kunming Inst. of Technol., China

fYear

1994

fDate

5-9 Dec 1994

Firstpage

34

Lastpage

38

Abstract

In this paper, an error state controller based on a nonlinear inverse model and an error model is presented. By introducing some auxiliary signals and special matrices the resulting error state equations become linear and decoupled. An optimal error state control input can be determined which minimizes the N-step performance criterion. The simulation results show that this scheme guarantees that the robot performs exactly the same motions as predicted by the designated trajectory

Keywords

differential equations; eigenvalues and eigenfunctions; manipulators; matrix algebra; motion control; multivariable systems; optimal control; decoupling control; differential equations; error state controller; matrix algebra; motion control; multivariable system structure; nonlinear inverse model; optimal control; performance criterion; robotic manipulator; Acceleration; Automatic control; Differential equations; Error correction; Inverse problems; Manipulator dynamics; Nonlinear equations; Robot control; Robotics and automation; Velocity control;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Technology, 1994., Proceedings of the IEEE International Conference on

Conference_Location

Guangzhou

Print_ISBN

0-7803-1978-8

Type

conf

DOI

10.1109/ICIT.1994.467174

Filename

467174