Title :
A linear parameter varying approach to a gain scheduled flexible joint robot
Author :
Namerikawa, Toru ; Fujita, Masayuki ; Matsumura, F.
Author_Institution :
Dept. of Electr. & Comput. Eng., Kanazawa Univ.
Abstract :
Presents a robust control system design for a flexible-joint robot manipulator. The robot manipulator dynamics are brought to a quasi linear parameter varying (LPV) form by a state transformation. An LPV system is defined as a linear system whose dynamics depend on an exogenous variable which can be measured upon system operation. In this case, the variables are the joint angles. In a quasi-LPV form, a robust controller using μ-synthesis is designed to achieve joint angle control
Keywords :
control system synthesis; linear systems; manipulator dynamics; robust control; μ-synthesis; gain scheduled flexible joint robot; joint angle control; joint angles; linear parameter varying approach; linear system; quasi linear parameter varying form; robust control system design; state transformation; DC motors; Feedback control; Force measurement; Gears; Information science; Manipulator dynamics; Nonlinear dynamical systems; Parallel robots; Processor scheduling; Robust control;
Conference_Titel :
Advanced Motion Control, 1996. AMC '96-MIE. Proceedings., 1996 4th International Workshop on
Conference_Location :
Mie
Print_ISBN :
0-7803-3219-9
DOI :
10.1109/AMC.1996.509325
