Title :
Robust regulator design for an arm manipulator
Author :
González, L. ; Rodríguez, J.
Author_Institution :
IPN, CITEDI, Tijuana, Mexico
Abstract :
We consider the design of a robust regulator for a 3 DOF robot that is affected by poor repeatability. Instead of applying a nonlinear control an Hoo design was superposed on top of the manufacturer´s. From previous recommended methods and a good understanding of the plant a set of weights were selected as to guarantee the solution of the optimization problem. A robust system with excellent regulation properties was reach showing also good tracking features.
Keywords :
H∞ control; H∞ optimisation; control system synthesis; controllers; manipulators; robust control; 3 DOF robot; H∞ control; H∞ optimisation; Hoo design; arm manipulator; control system synthesis; degree of freedom; nonlinear control; optimization; robust regulator design; robust system; tracking; Manipulators; Manufacturing; Optimization methods; Regulators; Resonance; Robots; Robust control; Robustness; Servomechanisms; Uncertainty;
Conference_Titel :
Industrial Electronics Society, 2003. IECON '03. The 29th Annual Conference of the IEEE
Print_ISBN :
0-7803-7906-3
DOI :
10.1109/IECON.2003.1280026
