Comparison of control algorithms for a nonholonomic underactuated 2-DOF robot

Author

Mareczek, J. ; Buss, M. ; Schmidt, G.

Author_Institution

Inst. of Autom. Control Eng., Tech. Univ. Munchen, Germany

fYear

1997

fDate

20-20 June 1997

Firstpage

96

Abstract

Summary form only given as follows. We present experimental results of several control algorithms for a nonholonomic underactuated 2-DOF robot. The first joint of the robot consists of a DD-motor whereas the second joint has no actuator but a holding brake. We derive a control law using non-collocated linearization for the uncertain parameter case and apply PD, LQG and VS controllers. In experiments the different control laws are quantitatively compared. An intelligent brake algorithm is presented.

Keywords

brakes; intelligent control; linear quadratic Gaussian control; linearisation techniques; robots; two-term control; variable structure systems; DD motor; LQG control; PD control; control algorithms; direct drive motor; holding brake; intelligent brake algorithm; noncollocated linearization; nonholonomic underactuated 2 DOF robot; Actuators; Automatic control; Couplings; Intelligent robots; PD control; Robotics and automation; Robust stability; World Wide Web;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Intelligent Mechatronics '97. Final Program and Abstracts., IEEE/ASME International Conference on

Conference_Location

Tokyo, Japan

Print_ISBN

0-7803-4080-9

Type

conf

DOI

10.1109/AIM.1997.652962

Filename

652962