Title :
On a simplified joint controller design for robot manipulators
Author_Institution :
University of California, Davis, CA
Abstract :
A simple controller design approach is introduced which provides linear decoupled joint motion control for a robot manipulator. The main idea is to treat each joint as a simple second order linear system with all the nonlinear and coupling effects viewed as disturbance. By employing a simple disturbance estimation/rejection procedure, highly robust independent joint control can be achieved.
Keywords :
Computer simulation; Couplings; Force control; Gravity; Manipulators; Motion control; Robot control; Robust control; Torque control; Uncertainty;
Conference_Titel :
Decision and Control, 1987. 26th IEEE Conference on
Conference_Location :
Los Angeles, California, USA
DOI :
10.1109/CDC.1987.272551
