DocumentCode
2036549
Title
High-quality bounded robust robot stabilizing control
Author
Gruyitch, Lyubomir T. ; Kokosy, Annemarie
Author_Institution
LMP-ENIBe, Belfort, France
Volume
1
fYear
1997
fDate
10-12 Dec 1997
Firstpage
797
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;
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.1997.650736
Filename
650736
Link To Document