Title :
Implementing model-based variable-structure controllers for robot manipulators with actuator modelling
Author :
Tso, S.K. ; Law, P.L. ; Xu, Y. ; Shum, H.Y.
Author_Institution :
Dept. of Electr. & Electron. Eng., Hong Kong Univ., Hong Kong
Abstract :
A model-based control scheme for robot manipulators employing a variable structure control law has been found to perform well, provided that the design parameters are carefully chosen. A refinement of the system model of this original scheme in which the actuator dynamics is taken into consideration is studied. Practical experiments are carried out on a commercial revolute-joint robot manipulator
Keywords :
manipulator dynamics; actuator dynamics; actuator modelling; design parameters; model-based control scheme; model-based variable-structure controllers; revolute-joint robot manipulator; Actuators; Adaptive control; Convergence; DC motors; Electric variables control; Equations; Friction; Manipulator dynamics; Robot control; Torque;
Conference_Titel :
Intelligent Robots and Systems '93, IROS '93. Proceedings of the 1993 IEEE/RSJ International Conference on
Conference_Location :
Yokohama
Print_ISBN :
0-7803-0823-9
DOI :
10.1109/IROS.1993.583137
