DocumentCode
2412546
Title
Robust control of constrained robots
Author
Dawson, Darren ; Carroll, James ; Qu, Zhihua
Author_Institution
Dept. of Electr. & Comput. Eng., Clemson Univ., SC, USA
fYear
1991
fDate
10-12 Mar 1991
Firstpage
187
Lastpage
191
Abstract
Develops a robust controller for constrained robots in the presence of uncertainty in the robot dynamic equation. Following the development of the constrained robot given in McClamrock and Wang (1988), the authors show that the tracking errors for force and position are bounded. The authors then show how these bounds can be decreased by adjusting the control parameters with respect to the parameters that govern the robot arm equation
Keywords
dynamics; force control; position control; robots; stability; constrained robots; force control; position control; robust controller; stability; tracking errors; uncertainty; Equations; Error correction; Force control; Orbital robotics; Robot control; Robot kinematics; Robust control; Service robots; Torque control; Uncertainty;
fLanguage
English
Publisher
ieee
Conference_Titel
System Theory, 1991. Proceedings., Twenty-Third Southeastern Symposium on
Conference_Location
Columbia, SC
ISSN
0094-2898
Print_ISBN
0-8186-2190-7
Type
conf
DOI
10.1109/SSST.1991.138544
Filename
138544
Link To Document