Abstract
Nonlinear feedback control algorithms for manipulators utilize a complete (coupled and nonlinear) dynamic robot model to decouple the robot joints. In the companion article1 we outlined the practical problems introduced by modeling inaccuracies, unmodeled dynamics and parameter errors. We then introduced the α‐computed‐torque nonlinear feedback control algorithm which is robust in the presence of the aforementioned error sources. In this article, we apply the insight gained from the α‐computed‐torque algorithm to design a robust discrete‐time (accelerometer‐free) computed‐torque robot‐control algorithm founded upon our discrete dynamic robot model.2 Numerical experiments with the cylindrical robot confirm both the robust disturbance rejection characteristics and the practical applicability of our discrete‐time computer‐torque control algorithm.
| Original language | English |
|---|---|
| Pages (from-to) | 115-143 |
| Number of pages | 29 |
| Journal | Journal of Robotic Systems |
| Volume | 4 |
| Issue number | 1 |
| DOIs | |
| Publication status | Published - 1987 |
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ASJC Scopus subject areas
- Control and Systems Engineering
Cite this
Robust discrete nonlinear feedback control for robotic manipulators. / Neuman, Charles P.; Tourassis, Vassilios D.
In: Journal of Robotic Systems, Vol. 4, No. 1, 1987, p. 115-143.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Robust discrete nonlinear feedback control for robotic manipulators
AU - Neuman, Charles P.
AU - Tourassis, Vassilios D.
PY - 1987
Y1 - 1987
N2 - Nonlinear feedback control algorithms for manipulators utilize a complete (coupled and nonlinear) dynamic robot model to decouple the robot joints. In the companion article1 we outlined the practical problems introduced by modeling inaccuracies, unmodeled dynamics and parameter errors. We then introduced the α‐computed‐torque nonlinear feedback control algorithm which is robust in the presence of the aforementioned error sources. In this article, we apply the insight gained from the α‐computed‐torque algorithm to design a robust discrete‐time (accelerometer‐free) computed‐torque robot‐control algorithm founded upon our discrete dynamic robot model.2 Numerical experiments with the cylindrical robot confirm both the robust disturbance rejection characteristics and the practical applicability of our discrete‐time computer‐torque control algorithm.
AB - Nonlinear feedback control algorithms for manipulators utilize a complete (coupled and nonlinear) dynamic robot model to decouple the robot joints. In the companion article1 we outlined the practical problems introduced by modeling inaccuracies, unmodeled dynamics and parameter errors. We then introduced the α‐computed‐torque nonlinear feedback control algorithm which is robust in the presence of the aforementioned error sources. In this article, we apply the insight gained from the α‐computed‐torque algorithm to design a robust discrete‐time (accelerometer‐free) computed‐torque robot‐control algorithm founded upon our discrete dynamic robot model.2 Numerical experiments with the cylindrical robot confirm both the robust disturbance rejection characteristics and the practical applicability of our discrete‐time computer‐torque control algorithm.
UR - http://www.scopus.com/inward/record.url?scp=84995018777&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84995018777&partnerID=8YFLogxK
U2 - 10.1002/rob.4620040108
DO - 10.1002/rob.4620040108
M3 - Article
AN - SCOPUS:84995018777
VL - 4
SP - 115
EP - 143
JO - Journal of Field Robotics
JF - Journal of Field Robotics
SN - 1556-4959
IS - 1
ER -