Title :
Application of decentralized time-delay controller to robot manipulators
Author :
Youcef-Toumi, K. ; Fuhlbrigge, T.A.
Author_Institution :
Dept. of Mech. Eng., MIT, Cambridge, MA, USA
Abstract :
The authors first review the concept of time-delay control, then present a decentralized version. The application of such a decentralized controller to robot manipulators is then discussed. Successful experimental results demonstrate the effectiveness of the time-delay concept. The controller functions despite any system parameter uncertainty, and it is not necessary that the parameters be estimated. The practical use is verified
Keywords :
decentralised control; delays; robots; decentralized controller; robot manipulators; system parameter uncertainty; time-delay controller; Control systems; Delay effects; Delay estimation; Equations; Error correction; Force control; Manipulator dynamics; Matrices; Nonlinear control systems; Robot control;
Conference_Titel :
Robotics and Automation, 1989. Proceedings., 1989 IEEE International Conference on
Conference_Location :
Scottsdale, AZ
Print_ISBN :
0-8186-1938-4
DOI :
10.1109/ROBOT.1989.100233
