Title :
Robot control with disturbance observers
Author :
Gorez, R. ; Galardini, D.
Author_Institution :
Univ. Catholique de Louvain, Lab. d´´Autom., Dynamique et Anal. des Syst., Belgium
Abstract :
A control system consisting of a bank of single input single output controllers and disturbance observers is proposed for the positional control of multidegree of freedom manipulators. Stability of this control system is analysed and relationships between the manipulator characteristics, the closed-loop bandwidths and bounds on the stability region are derived.<>
Keywords :
robots; stability criteria; SISO control; closed-loop bandwidths; disturbance observers; manipulator characteristics; multidegree of freedom manipulators; positional control; robot control; single input single output controllers; stability region bounds; Bandwidth; Control systems; Manipulator dynamics; Motion control; PD control; Pi control; Proportional control; Robot control; Stability analysis; Torque control;
Conference_Titel :
Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on
Conference_Location :
Pisa, Italy
Print_ISBN :
0-7803-0078-5
DOI :
10.1109/ICAR.1991.240617
