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

Volume

2

fYear

1998

fDate

21-26 Jun 1998

Firstpage

912

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;

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.1998.703540

Filename

703540