ROBUST FORCE POSITION CONTROL OF A ROBOT MANIPULATOR USING TIME-DELAY CONTROL

被引：45

作者：

CHANG, PH ^{[1
]}

KIM, DS ^{[1
]}

PARK, KC ^{[1
]}

机构：

[1] GOLDSTAR CO, CORP PROD ENGN RES LAB, SEOUL, SOUTH KOREA

来源：

CONTROL ENGINEERING PRACTICE | 1995年 / 3卷 / 09期

关键词：

ROBOT HYBRID CONTROL; ROBUST CONTROL; TIME-DELAY CONTROL; DISTURBANCE OBSERVER; DYNAMIC STABILITY; PARAMETER UNCERTAINTY; DYNAMIC COUPLING;

D O I：

10.1016/0967-0661(95)00124-D

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Robot hybrid control has been noted for its difficulty due to the so-called dynamic stability problem, and consequently demands robust control algorithms that can overcome this difficulty, yet with accuracy In this paper, a control law based on time-delay control has been derived for hybrid control, with it condition for closed-loop stability. In addition, its relationship with the disturbance observer has been investigated. It turned out that the disturbance observer is very similar to the proposed control. Throughout the simulations and experiments, this control law was observed to outperform PD or PID control, thereby proposing itself as promising for hybrid control purposes.

引用

页码：1255 / 1264

页数：10

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