Title :
A robust model-based controller for robot manipulators
Author :
Zhu, H.A. ; Teo, C.L. ; Hong, G.S.
Author_Institution :
Dept. of Mech. & Production Eng., Nat. Univ. of Singapore, Singapore
Abstract :
An additional model-based parallel-compensator is attached to the conventional model-based computed torque controller, which is in the form of a serial compensator, to enhance the robustness of robot manipulator control. The novel scheme is simple and numerical studies verify that it is much more robust than existing methods
Keywords :
closed loop systems; compensation; control system analysis; manipulators; poles and zeros; stability; closed-loop pole-placement; computed torque controller; parallel-compensator; robot manipulators; robust model-based controller; serial compensator; stability; Couplings; Error correction; Manipulator dynamics; Noise robustness; Parallel robots; Robot control; Robot sensing systems; Robust control; Robust stability; Torque control;
Conference_Titel :
Industrial Electronics, 1992., Proceedings of the IEEE International Symposium on
Conference_Location :
Xian
Print_ISBN :
0-7803-0042-4
DOI :
10.1109/ISIE.1992.279548
