ROBUST TRAJECTORY FOLLOWING CONTROL OF ROBOTIC SYSTEMS

被引：7

作者：

SINGH, SN ^{[1
]}

SCHY, AA ^{[1
]}

机构：

[1] NASA,LANGLEY RES CTR,SPACECRAFT CONTROL BRANCH,HAMPTON,VA 23665

来源：

JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME | 1985年 / 107卷 / 04期

关键词：

COMPUTER SIMULATION - CONTROL SYSTEMS - SERVOMECHANISMS;

D O I：

10.1115/1.3140741

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Using an inversion approach we derive a control law for trajectory following of robotic systems. A servocompensator is used around the inner decoupled loop for robustness to uncertainty in the system. These results are applied to trajectory control of a three-degrees-of-freedom robot arm and control laws C// theta and C//H for joint angle and position trajectory following, respectively, are derived. Digital simulation results are presented to show the rapid trajectory following capability of the controller in spite of payload uncertainty.

引用

页码：308 / 315

页数：8

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