Title

Robust Control Of Constrained And Unconstrained Robot Manipulators

Abstract

In this paper, a robust controller is developed for the position and force tracking of a single a-joint aonredundant manipulator. The control strategy is shovn to apply when the manipulator is unconstrained and when it is constrained by a rigid environment. Starting with the model of the robot dynamics and constraints in joint space, a transformed 'dynamic equation is developed with respect to a set of task space coordinate variables. Using this transformed system, a control strategy is developed for the manipulator which is robust with respect to the uncertainty in the system. For the proposed control strategy, the position tracking error is shows to be globally exponentially stable (SES) while the force tracking error is shown to be inversely proportional to the force control feedback gains.

Publication Date

1-1-1992

Publication Title

Proceedings - SSST/CSA 1992: 24th Southeastern Symposium on System Theory and 3rd Annual Symposium on Communications, Signal Processing Expert Systems, and ASIC VLSI Design

Number of Pages

308-312

Document Type

Article; Proceedings Paper

Identifier

scopus

Personal Identifier

scopus

DOI Link

https://doi.org/10.1109/SSST.1992.712288

Socpus ID

84950957638 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/84950957638

This document is currently not available here.

Share

COinS