DocumentCode
2427825
Title
Digital implementation of robust μ-control for a robot manipulator
Author
Fujita, Masayuki ; Namerikawa, Toru ; Uchida, Kenko
Author_Institution
Sch. of Inf. Sci., Japan Adv. Inst. of Sci. & Technol., Ishikawa, Japan
Volume
3
fYear
1994
fDate
29 June-1 July 1994
Firstpage
2450
Abstract
In this paper, we experimentally evaluate the DSP-based controller performance against the sampling period with a robot manipulator. Robust robot control objectives are formulated using the complex structured singular value μ. Then the μ-synthesis technique is applied to construct a linear controller. The experimental results show that the high speed DSPs can bring out the high performance in the real-time robot control.
Keywords
control system synthesis; digital signal processing chips; optimal control; robots; robust control; singular value decomposition; μ-synthesis technique; DSP-based controller performance; complex structured singular value; digital implementation; linear controller; real-time robot control; robot manipulator; robust μ-control; Control systems; Digital control; Digital signal processing; Manipulators; Robot control; Robust control; Robustness; Sampling methods; Signal sampling; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1994
Print_ISBN
0-7803-1783-1
Type
conf
DOI
10.1109/ACC.1994.734999
Filename
734999
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