ROBUST FEEDBACK CONTROL OF AN ARTICULATED ROBOT: A CASE STUDY.

Vassilios D. Tourassis, Charles P. Neuman

Research output: Contribution to journalConference articlepeer-review

Abstract

An inherently discrete-time dynamic robot model which is compact and designed for trajectory planning and computer control of robots has been developed. The model guarantees conservation of robot energy over each sampling period as well as robust continuous and discrete-time nonlinear feedback robot control algorithms which are insensitive to modeling inaccuracies, unmodeled dynamics and parameter errors. The authors evaluate applications of the robot model and control algorithms on the three degree-of-freedom positioning system of an articulated manipulator.

Original languageEnglish
Pages (from-to)1505-1509
Number of pages5
JournalProceedings of the IEEE Conference on Decision and Control
DOIs
Publication statusPublished - 1985

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Control and Optimization

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