Title :
Tracking control design for robots using the method of nonlinearity estimation and compensation
Author :
Hu, R. ; Müller, P.C.
Author_Institution :
Wuppertal Univ., Germany
Abstract :
As an alternative to the method of inverse dynamics and feedback linearization, a new approach for robot control called nonlinearity estimation and compensation is presented. Some new results and details are given on how this approach is used to design the tracking controllers for both rigid-body robots and robots with elastic joints
Keywords :
compensation; control nonlinearities; control system synthesis; matrix algebra; nonlinear control systems; observers; robot dynamics; state-space methods; tracking; compensation; dynamics; elastic joint robots; nonlinearity estimation; observers; rigid-body robots; robot control; state space; tracking control; Control design; Control engineering; Feedback; Orbital robotics; Robot control; Robot kinematics; Robust control; Safety; State-space methods; Weight control;
Conference_Titel :
Systems, Man, and Cybernetics, 1996., IEEE International Conference on
Conference_Location :
Beijing
Print_ISBN :
0-7803-3280-6
DOI :
10.1109/ICSMC.1996.561481
