DocumentCode
1582856
Title
Robust trajectory control for robot
Author
Wei, Lixin ; Wang, Hongrui ; LI, Ying
Author_Institution
Inst. of Electr. Eng., Yanshan Univ., China
Volume
6
fYear
2004
Firstpage
4927
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Control and Automation, 2004. WCICA 2004. Fifth World Congress on
Print_ISBN
0-7803-8273-0
Type
conf
DOI
10.1109/WCICA.2004.1343649
Filename
1343649
Link To Document