Title :
Uncertainty bound-based hybrid control for robot manipulators
Author :
Chen, Ye-Hwa ; Pandey, Sandeep
Author_Institution :
George W. Woodruff Sch. of Mech. Eng., Georgia Inst. of Technol., Atlanta, GA, USA
fDate :
6/1/1990 12:00:00 AM
Abstract :
The hybrid (position and force) control problem of a robot manipulator has been cast into the framework of control of dynamical systems whose mathematic model contains uncertainties. The uncertainties involved can be due to imperfect modeling, friction, payload change, and external disturbances. Based solely on the bound of these uncertainties, controllers can be constructed. A two-joint SCARA-type robot is discussed as an illustrative example
Keywords :
control system analysis; force control; industrial robots; position control; SCARA-type; dynamical systems; force control; hybrid control; manipulators; position control; robot; uncertainties; Control design; Control system synthesis; Force control; Manipulator dynamics; Mathematical model; Robot control; Robot kinematics; Robust control; Servomechanisms; Uncertainty;
Journal_Title :
Robotics and Automation, IEEE Transactions on
