Title :
Robust control for rigid serial manipulators: a general setting
Author :
Chen, Y.H. ; Leitmann, G. ; Chen, J.S.
Author_Institution :
Sch. of Mech. Eng., Georgia Inst. of Technol., Atlanta, GA, USA
Abstract :
We design a robust control for serial-link mechanical manipulators with revolute and/or prismatic joints. The properties of the inertia matrix are first analyzed. It is shown that the inertia matrix can indeed be used to construct Lyapunov functions, even though some of the joints are prismatic. A robust control is proposed without assuming properties of the manipulator system other than uniform positive definiteness of the inertia matrix. The generic properties of the inertia matrix are also readily applied for other control designs
Keywords :
Lyapunov methods; control system synthesis; manipulator kinematics; matrix algebra; robust control; Lyapunov functions; generic properties; inertia matrix; prismatic joints; revolute joints; rigid serial manipulators; robust control; serial-link mechanical manipulators; uniform positive definiteness; Control design; Force control; Gravity; Kinetic energy; Lyapunov method; Manipulator dynamics; Mechanical engineering; Mechanical factors; Robust control; Uncertainty;
Conference_Titel :
American Control Conference, 1998. Proceedings of the 1998
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-7803-4530-4
DOI :
10.1109/ACC.1998.703540
