Title :
Discrete time repetitive control for robot manipulators
Author :
Tsai, Ming-Chang ; Anwar, George ; Tomizuka, Masayoshi
Author_Institution :
Dept. of Mech. Eng., California Univ., Berkeley, CA, USA
Abstract :
The analysis and experimental implementation of a discrete-time repetitive control scheme is presented. The repetitive control structure is designed to be easily implemented on any system without modification to the existing controller. Simulation and experimental results show that the repetitive controller in conjunction with a computed-torque control or a simple proportional-derivative control law achieves good tracking performance when the desired trajectory is periodic and the period is known
Keywords :
control system analysis; discrete time systems; position control; robots; computed-torque control; control system analysis; discrete-time repetitive control; position control; proportional-derivative control; robot manipulators; tracking performance; Control systems; Delay effects; Error correction; Manipulators; PD control; Proportional control; Robot control; Robotic assembly; Signal generators; Torque control;
Conference_Titel :
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-8186-0852-8
DOI :
10.1109/ROBOT.1988.12254
