DocumentCode
1687054
Title
A robust model-based controller for robot manipulators
Author
Zhu, H.A. ; Teo, C.L. ; Hong, G.S.
Author_Institution
Dept. of Mech. & Production Eng., Nat. Univ. of Singapore, Singapore
fYear
1992
Firstpage
380
Abstract
An additional model-based parallel-compensator is attached to the conventional model-based computed torque controller, which is in the form of a serial compensator, to enhance the robustness of robot manipulator control. The novel scheme is simple and numerical studies verify that it is much more robust than existing methods
Keywords
closed loop systems; compensation; control system analysis; manipulators; poles and zeros; stability; closed-loop pole-placement; computed torque controller; parallel-compensator; robot manipulators; robust model-based controller; serial compensator; stability; Couplings; Error correction; Manipulator dynamics; Noise robustness; Parallel robots; Robot control; Robot sensing systems; Robust control; Robust stability; Torque control;
fLanguage
English
Publisher
ieee
Conference_Titel
Industrial Electronics, 1992., Proceedings of the IEEE International Symposium on
Conference_Location
Xian
Print_ISBN
0-7803-0042-4
Type
conf
DOI
10.1109/ISIE.1992.279548
Filename
279548
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