Title :
Robust control of constrained robots
Author :
Dawson, Darren ; Carroll, James ; Qu, Zhihua
Author_Institution :
Dept. of Electr. & Comput. Eng., Clemson Univ., SC, USA
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;
Conference_Titel :
System Theory, 1991. Proceedings., Twenty-Third Southeastern Symposium on
Conference_Location :
Columbia, SC
Print_ISBN :
0-8186-2190-7
DOI :
10.1109/SSST.1991.138544
