Title :
Adaptive compensatory of nonlinear time varying torque disturbances in rigid robots
Author_Institution :
Autom. Control Lab., Swiss Federal Inst. of Technol., Zurich, Switzerland
Abstract :
This paper presents a new approach to the control of rigid robots when actuator dynamics, nonlinearities (e.g. saturation) and Coulomb friction, are relevant. An adaptive like algorithm is used in order to obtain the desired trajectory tracking in the presence of unknown, nonlinear, time varying torque disturbances acting on the robot
Keywords :
adaptive control; compensation; control nonlinearities; position control; robots; tracking; Coulomb friction; actuator dynamics; adaptive compensatory; adaptive control; nonlinear time varying torque disturbances; nonlinearities; rigid robots; trajectory tracking; Adaptive control; Compensation; Position control; Robots; Tracking;
Conference_Titel :
Control Applications, 1994., Proceedings of the Third IEEE Conference on
Conference_Location :
Glasgow
Print_ISBN :
0-7803-1872-2
DOI :
10.1109/CCA.1994.381451
