ADAPTIVE ROBUST-CONTROL OF ROBOT MANIPULATORS - THEORY AND EXPERIMENT

被引：36

作者：

IMURA, JI ^{[1
]}

SUGIE, T ^{[1
]}

YOSHIKAWA, T ^{[1
]}

机构：

[1] KYOTO UNIV,DIV APPL SYST,UJI,KYOTO 611,JAPAN

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 1994年 / 10卷 / 05期

关键词：

D O I：

10.1109/70.326574

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, a new adaptive robust control scheme for manipulators is proposed that overcomes the drawbacks of conventional adaptive robust control methods. The proposed controller has a simple structure by exploiting the special structure of the manipulator dynamics, and achieves the specified tracking precision without any a priori information on uncertainty. Furthermore, the feedback gain of the proposed method is almost necessary and minimum for the specified precision. To verify the advantages of the method, experimental results are shown for the trajectory control of a 2 DOF direct-drive arm.

引用

页码：705 / 710

页数：6

共 22 条

[1] ROBUST MODEL TRACKING CONTROL FOR A CLASS OF NONLINEAR PLANTS [J].