Title :
A robust motion control of manipulators with parametric uncertainties and random disturbances
Author_Institution :
Inst. for Social Inf. Sci., Fujitsu Labs. Ltd., Shizuoka, Japan
Abstract :
A robust motion control scheme for manipulators is presented. From the viewpoints of practical use of manipulators, the effects of parametric uncertainties in dynamics and exogenous random disturbances are taken into account. The control problem is formulated as a minimax optimization problem. The derived optimal input is related to the level of uncertainties attenuation
Keywords :
manipulator dynamics; minimax techniques; motion control; robust control; uncertain systems; dynamics; manipulators; minimax optimization; motion control; parametric uncertainties; random disturbances; robust control; Acceleration; Attenuation; Laboratories; Motion control; Noise robustness; Optimal control; Robust control; Torque control; Transmission line matrix methods; Uncertainty;
Conference_Titel :
Decision and Control, 1995., Proceedings of the 34th IEEE Conference on
Conference_Location :
New Orleans, LA
Print_ISBN :
0-7803-2685-7
DOI :
10.1109/CDC.1995.480368
