• DocumentCode
    3039103
  • Title

    Robust control of manipulator arms

  • Author

    Horst Salzwedel ; Kosut, R.L. ; Emami-Naeini, Abbas

  • Author_Institution
    Systems Control Technology, Inc., Palo Alto, CA
  • fYear
    1981
  • fDate
    16-18 Dec. 1981
  • Firstpage
    263
  • Lastpage
    264
  • Abstract
    A method for the sythesis and analysis of robust control designs for high performance manipulator arms is described. Input-output norms are used to analyze the robustness of flexible manipulator control designs in the presence of flexible mode spillover and parameter uncertainty. A multivariable Wiener-Hopf control design is used to provide high gains in the necessary frequency range and low gaines outside this range, in order to achieve performance and stability robustness.
  • Keywords
    Arm; Automatic control; Control design; Control systems; Force control; Frequency; Manipulator dynamics; Open loop systems; Robust control; Robust stability;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Decision and Control including the Symposium on Adaptive Processes, 1981 20th IEEE Conference on
  • Conference_Location
    San Diego, CA, USA
  • Type

    conf

  • DOI
    10.1109/CDC.1981.269525
  • Filename
    4046933
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3039103