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
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;
Conference_Titel :
American Control Conference, 1998. Proceedings of the 1998
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-7803-4530-4
DOI :
10.1109/ACC.1998.703018
