UNCERTAINTY BOUND-BASED HYBRID CONTROL FOR ROBOT MANIPULATORS

被引：19

作者：

CHEN, YH ^{[1
]}

PANDEY, S ^{[1
]}

机构：

[1] UNIV CALIF BERKELEY, DEPT MECH ENGN, BERKELEY, CA 94720 USA

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 1990年 / 6卷 / 03期

关键词：

D O I：

10.1109/70.56662

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The hybrid (position and force) control problem of a robot manipulator has been cast into the framework of control of dynamical systems whose mathematical model contains uncertainties. The uncertainties involved can be due to imperfect modeling, friction, payload change, and external disturbances. Based solely on the bound of these uncertainties, controllers can be constructed. A two-joint SCARA-type robot is included as an illustrative example. © 1990 IEEE

引用

页码：303 / 311

页数：9

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