Title :
An improved perturbation attenuation method for motion control of robotic systems
Author :
Kwon, SangJoo ; Chung, Wan Kyun
Author_Institution :
Dept. of Mech. Eng., Pohang Inst. of Sci. & Technol., South Korea
Abstract :
A new perturbation attenuation method is proposed for motion control of robotic systems. It effectively attenuates all the perturbation to the joint dynamics of a plant including inertial cross coupling force, nonlinear friction, and external disturbances. As a result, it achieves a decentralized control system. A remarkable feature of the algorithm is that it has multiloop structure which can hierarchically compensate the "residual perturbation." An inherent property of the recursive algorithm which enables to overcome the limit of existing perturbation observers is described through the stability/performance analysis. Experimental results on the 2 DOF direct drive arm verifies the effectiveness of the proposed perturbation compensator
Keywords :
compensation; decentralised control; hierarchical systems; perturbation techniques; robot dynamics; 2-DOF direct drive arm; decentralized control system; external disturbances; inertial cross coupling force; joint dynamics; motion control; multiloop structure; nonlinear friction; performance analysis; perturbation attenuation method; perturbation observers; recursive algorithm; robotic systems; stability analysis; Adaptive control; Attenuation; Control systems; Distributed control; Friction; Intelligent robots; Motion control; Programmable control; Robot control; Robust control;
Conference_Titel :
Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on
Conference_Location :
Maui, HI
Print_ISBN :
0-7803-6612-3
DOI :
10.1109/IROS.2001.976914