An application of the 4-parameter controller to the robot payload variation problem

A diagnostic system is designed to maintain high performance of robotic manipulators during payload variations. The novel application of failure diagnostic methods to the problem of detecting abrupt payload variations in robots is utilized. The application of the four-parameter controller to the simultaneous design of the feedback control and diagnostic systems using a computed torque controller is based on the key concept of treating the study of payload variations as a failure diagnostic problem. Simulation results that demonstrate the promise of the methodology are presented