Title :
Robust motion tracking control of robotic arms based on the generalized energy accumulation principle
Author :
Song, Y.D. ; Anderson, J.N. ; Homaifar, A. ; Lai, H.Y.
Author_Institution :
NASA Center for Aerospace Res., North Carolina AT&T State Univ., Greensboro, NC, USA
Abstract :
A rigid-link robot with a dynamic model that includes a bounded external disturbance is considered. The objective addressed is to find a control strategy that is simple to implement, easy to code for programming, and robust to possible time-varying uncertainties
Keywords :
manipulators; position control; robot programming; bounded external disturbance; control strategy; dynamic model; generalized energy accumulation principle; programming; rigid-link robot; robotic arms; time-varying uncertainties; Arm; Convergence; Manufacturing; Motion control; NASA; Robot control; Robot programming; Robust control; Space technology; Stability; Tracking; Uncertainty;
Conference_Titel :
Decision and Control, 1992., Proceedings of the 31st IEEE Conference on
Conference_Location :
Tucson, AZ
Print_ISBN :
0-7803-0872-7
DOI :
10.1109/CDC.1992.371182
