Title :
On the application of a new method for fast and robust position control of industrial robots
Author :
Kuntze, H. ; Jacubasch, A. ; Hirsch, U. ; Richalet, J. ; Arber, Ch
Author_Institution :
Fraunhofer-Inst. for Inf. & Data Process., Karlsruhe, West Germany
Abstract :
A concept called predictive functional control (PFC) is presented for industrial robot (IR) control. It provides excellent control performance, a high accuracy even for fast trajectories, an outstanding tracking quality for sharp contour deviations, and a very good robustness with respect to parameter variations. It is shown that PFC can be implemented on conventional IR control systems. The performance is demonstrated by several experimental results
Keywords :
control system analysis; industrial robots; position control; stability; industrial robots; predictive functional control; robust position control; robustness; sharp contour deviations; stability; tracking; Control systems; Costs; Hardware; Industrial control; Manufacturing; Position control; Robust control; Robustness; Service robots; Uncertainty;
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.1988.12290
