Independent joint control: Estimation and compensation of coupling and friction effects in robot position control

被引：9

作者：

Hu, R

Muller, PC

机构：

[1] Univ of Wuppertal, Wuppertal

来源：

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS | 1996年 / 15卷 / 01期

关键词：

robot control; nonlinearity; state observer; disturbance rejection;

D O I：

10.1007/BF00435726

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

The method of independent joint control has been widely used in the position control of industrial robots. In order to improve the control performance of this type of controllers, the concept of nonlinearity-estimation and -compensation is introduced. With this extended method comparable results can be obtained as with the method of exact linearization. Especially by the treatment of unmodeled or inaccurate effects, e.g., friction, load variation or parameter inaccuracy, the presented control concept shows great advantages.

引用

页码：41 / 51

页数：11