DocumentCode :
1846378
Title :
Robust stability design framework for robot manipulator control
Author :
Grimm, W.M. ; Becker, N. ; Frank, P.M.
Author_Institution :
Duisburg Univ., West Germany
fYear :
1988
fDate :
24-29 Apr 1988
Firstpage :
1042
Abstract :
A methodology for the design of robust manipulator control loops is presented. Generally applicable stability conditions for a class of complex, nonlinear, time-variant control systems are applied to robot manipulators with rigid body dynamics. The robust stability design method allows the model uncertainties of various nonlinear or pure linear controllers to be taken into account, and may be viewed as a framework for robust manipulator control. It is shown that for a big class of robot manipulators, robust control can be achieved by frequently used linear time-invariant state-feedback controllers. Graphs are developed to facilitate the controller design
Keywords :
control system synthesis; robots; stability; control system synthesis; design; linear time-invariant state-feedback controllers; manipulator; robot; robust control; stability; Control nonlinearities; Control systems; Design methodology; Force control; Manipulators; Nonlinear control systems; Robot control; Robust control; Robust stability; Stability analysis;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-8186-0852-8
Type :
conf
DOI :
10.1109/ROBOT.1988.12198
Filename :
12198
Link To Document :
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