DocumentCode
2102496
Title
A predictive controller with a forward compensator for robotic manipulators
Author
Wen, Guan-hua ; Hoyer, Helmut
Author_Institution
Fernuniversitat Hagen, Germany
fYear
1993
fDate
15-17 Dec 1993
Firstpage
1310
Abstract
In this paper a control strategy for robotic manipulators based on the so-called generalized projection identification algorithm is further developed. By adding a forward compensator (the model of the robotic manipulator, which can be obtained by off-line and/or on-line estimation or identification) to the system, its properties are considerably improved. It is shown by simulations that the system has a high accuracy and a strong robustness
Keywords
compensation; identification; manipulators; predictive control; stability; forward compensator; generalized projection identification algorithm; predictive controller; robotic manipulators; robustness; Computational modeling; Control systems; Force control; Manipulator dynamics; Nonlinear control systems; Nonlinear equations; Process control; Robot control; Symmetric matrices; Velocity control;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1993., Proceedings of the 32nd IEEE Conference on
Conference_Location
San Antonio, TX
Print_ISBN
0-7803-1298-8
Type
conf
DOI
10.1109/CDC.1993.325399
Filename
325399
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