Using the algebraic structure of articulated robot dynamics in control design

Author

Hardt, Michael ; Kreutz-Delgado, Kenneth

Author_Institution

Dept. of Electr. & Comput. Eng., California Univ., San Diego, La Jolla, CA, USA

Volume

5

fYear

1997

fDate

10-12 Dec 1997

Firstpage

4850

Abstract

We discuss the algebraic structure of the dynamics of articulated multibody systems and how it may be effectively used in control design. The dynamics has a decomposition consisting of matrix operators satisfying many identities and giving insight into the dynamical system. To show the utility of this formalism, we investigate a disturbance attenuation control problem. We introduce a meaningful performance index which has an interesting interpretation in terms of the `normalized´ robot dynamics. Finally, we derive a new adaptive controller using the local structure found in the dynamics and test it on a 3-link planar robot arm

Keywords

adaptive control; control system synthesis; manipulator dynamics; matrix algebra; performance index; 3-link planar robot arm; adaptive controller; algebraic structure; articulated multibody systems; articulated robot dynamics; control design; disturbance attenuation control problem; dynamical system; matrix operators; normalized robot dynamics; performance index; Adaptive control; Attenuation; Control design; Equations; Manipulator dynamics; Matrix decomposition; Performance analysis; Robot kinematics; Symmetric matrices; Transmission line matrix methods;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1997., Proceedings of the 36th IEEE Conference on

Conference_Location

San Diego, CA

ISSN

0191-2216

Print_ISBN

0-7803-4187-2

Type

conf

DOI

10.1109/CDC.1997.649794

Filename

649794