Title :
High-quality bounded robust robot stabilizing control
Author :
Gruyitch, Lyubomir T. ; Kokosy, Annemarie
Author_Institution :
LMP-ENIBe, Belfort, France
Abstract :
The robot model used incorporates unknown nonlinearities due to friction in joints and unknown payload variation, and reflects control constraints of the saturation type. The control is synthesized to assure both stability and attraction with a demanded finite reachability time of the robot desired motion. The controlled robot variables (angles, positions, velocities) also obey their constraints. An example of the control synthesis for a three degree-of-freedom robot is shown
Keywords :
asymptotic stability; control nonlinearities; control system synthesis; controllability; motion control; position control; robot dynamics; robust control; velocity control; asymptotic stability; bounded robust control; motion control; nonlinearities; payload variation; position control; reachability; robot dynamics; stabilization; velocity control; Asymptotic stability; Friction; Motion control; Payloads; Robot control; Robot motion; Robust control; Student members; Uncertainty; Velocity control;
Conference_Titel :
Decision and Control, 1997., Proceedings of the 36th IEEE Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-7803-4187-2
DOI :
10.1109/CDC.1997.650736
