Title :
Practical robust control for flexible joint robot manipulators
Author :
Yeon, Je Sung ; Park, Jong Hyeon
Author_Institution :
Dept. of Mech. Eng., Hanyang Univ., Seoul
Abstract :
In this paper we proposed a practical robust controller which has simple structure, more easy tuning factor, and control forms having direct relation with control performance. This robust control is designed using the motor side dynamics directly. The design procedure consists of three parts. A model based computed torque control part to decrease stead-state errors, a feedback based control part to increase control accuracy, and robust control part to maintain the tracking performance using the nonlinear H-infinity control. The designed robust control is applied to a 6 DOF robot manipulator with joint flexibilities. The proposed robust controller has better tracking performance and advantage in its application.
Keywords :
Hinfin control; manipulator dynamics; nonlinear control systems; robust control; torque control; DOF robot manipulator; feedback based control; flexible joint robot manipulators; model based computed torque control; motor side dynamics directly; nonlinear H-infinity control; robust controller; stead-state errors; Control systems; Electrical equipment industry; Error correction; Feedback; H infinity control; Manipulator dynamics; Robust control; Service robots; Torque control; Uncertainty; H-infinity Control; Industrial Robot; Joint Flexibility; Model Based Control; Robust Control;
Conference_Titel :
Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on
Conference_Location :
Pasadena, CA
Print_ISBN :
978-1-4244-1646-2
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2008.4543726