Title :
Robust control of robot manipulators based on dynamics decomposition
Author :
Liu, Guang-jun ; Goldenberg, Andrew A.
Author_Institution :
Dept. of Mech. Eng., Toronto Univ., Ont., Canada
Abstract :
An extension to our previous dynamics decomposition based control law (1993) is presented, and experimental results are reported. The experiments conducted on a direct-drive robot arm have confirmed the effectiveness and desirable properties of the proposed control scheme
Keywords :
control system analysis; dynamics; manipulators; robust control; direct-drive robot arm; dynamics decomposition; manipulators; robot; robust control; DC motors; Friction; Gravity; Manipulator dynamics; Motion control; Robotics and automation; Robots; Robust control; Torque control; Uncertainty;
Conference_Titel :
Decision and Control, 1994., Proceedings of the 33rd IEEE Conference on
Conference_Location :
Lake Buena Vista, FL
Print_ISBN :
0-7803-1968-0
DOI :
10.1109/CDC.1994.410967
