DocumentCode
326727
Title
Robust controller design and implementation for industrial robots: electrically driven rigid body robots
Author
Stepanenko, Yury ; Su, Chun-Yi ; Tang, S.
Author_Institution
Dept. of Mech. Eng., Victoria Univ., BC, Canada
Volume
4
fYear
1998
fDate
21-26 Jun 1998
Firstpage
2206
Abstract
The issue of robust controller design and implementation for rigid-link electrically-driven robot manipulators was addressed. The main features of this scheme eliminate the requirement of the joint velocity measurements and the boundedness of estimated inertia parameters of the manipulator. To illustrate the feasibility of this controller, it was implemented on a Reis V15 industrial manipulator. The effectiveness of the proposed control strategies has been confirmed by experiments
Keywords
adaptive control; control system synthesis; industrial manipulators; manipulator dynamics; robust control; tracking; Reis V15; adaptive control; dynamics; industrial robots; manipulators; rigid body robots; robust control; tracking; Actuators; Adaptive control; Force control; Industrial control; Manipulator dynamics; Robust control; Service robots; Symmetric matrices; Torque control; Voltage control;
fLanguage
English
Publisher
ieee
Conference_Titel
American Control Conference, 1998. Proceedings of the 1998
Conference_Location
Philadelphia, PA
ISSN
0743-1619
Print_ISBN
0-7803-4530-4
Type
conf
DOI
10.1109/ACC.1998.703018
Filename
703018
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