Title :
Robust trajectory control for robot
Author :
Wei, Lixin ; Wang, Hongrui ; LI, Ying
Author_Institution :
Inst. of Electr. Eng., Yanshan Univ., China
Abstract :
A kind of robot trajectory control scheme for the uncertainty of robot dynamics is proposed in this paper. Furthermore, the stability of the controlled system is analyzed. The simulation demonstrates that the method has good robustness for some parameter uncertainties and random disturbance of the robot system.
Keywords :
position control; robot dynamics; robust control; parameter uncertainties; random disturbance; robot dynamics; robot trajectory control scheme; robust trajectory control; Control system analysis; Control systems; Robot control; Robust control; Stability analysis; Uncertain systems; Uncertainty;
Conference_Titel :
Intelligent Control and Automation, 2004. WCICA 2004. Fifth World Congress on
Print_ISBN :
0-7803-8273-0
DOI :
10.1109/WCICA.2004.1343649
