ROBUST FEEDBACK CONTROL OF AN ARTICULATED ROBOT

A CASE STUDY.

Vassilios D. Tourassis, Charles P. Neuman

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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
Title of host publicationProceedings of the IEEE Conference on Decision and Control
PublisherIEEE
Pages1505-1509
Number of pages5
Publication statusPublished - 1985
Externally publishedYes

Fingerprint

Robust control
Feedback control
Robots
Nonlinear feedback
Computer control
Manipulators
Conservation
Trajectories
Sampling
Planning

ASJC Scopus subject areas

  • Chemical Health and Safety
  • Control and Systems Engineering
  • Safety, Risk, Reliability and Quality

Cite this

Tourassis, V. D., & Neuman, C. P. (1985). ROBUST FEEDBACK CONTROL OF AN ARTICULATED ROBOT: A CASE STUDY. In Proceedings of the IEEE Conference on Decision and Control (pp. 1505-1509). IEEE.

ROBUST FEEDBACK CONTROL OF AN ARTICULATED ROBOT : A CASE STUDY. / Tourassis, Vassilios D.; Neuman, Charles P.

Proceedings of the IEEE Conference on Decision and Control. IEEE, 1985. p. 1505-1509.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Tourassis, VD & Neuman, CP 1985, ROBUST FEEDBACK CONTROL OF AN ARTICULATED ROBOT: A CASE STUDY. in Proceedings of the IEEE Conference on Decision and Control. IEEE, pp. 1505-1509.
Tourassis VD, Neuman CP. ROBUST FEEDBACK CONTROL OF AN ARTICULATED ROBOT: A CASE STUDY. In Proceedings of the IEEE Conference on Decision and Control. IEEE. 1985. p. 1505-1509
Tourassis, Vassilios D. ; Neuman, Charles P. / ROBUST FEEDBACK CONTROL OF AN ARTICULATED ROBOT : A CASE STUDY. Proceedings of the IEEE Conference on Decision and Control. IEEE, 1985. pp. 1505-1509
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