Title :
A decoupling control scheme with disturbance rejection for robot manipulators
Author :
Teo, C.L. ; Zhu, H.A. ; Hong, G.S. ; Poo, A.N.
Author_Institution :
Dept. of Mech. & Production Eng., Nat. Univ. of Singapore, Singapore
Abstract :
By using the algorithm developed in this paper, not only will the highly complicated and coupled actuator-manipulator dynamics be linearized and decoupled, but the disturbances and other uncertain dynamics acting at a manipulator joint can also be rejected. Furthermore, the modelling difficulty and complexity of the manipulator dynamics is significantly reduced. Numerical simulation examples have verified and demonstrated the effectiveness of the given algorithm
Keywords :
actuators; computational complexity; dynamics; linearisation techniques; manipulators; actuator-manipulator dynamics; complexity; decoupling control; disturbance rejection; linearisation; manipulator joint; modelling; robot manipulators; uncertain dynamics; Actuators; Control systems; Differential equations; Feedback loop; Manipulator dynamics; Numerical simulation; Payloads; Production engineering; Robot control; Torque;
Conference_Titel :
Industrial Electronics, Control, and Instrumentation, 1993. Proceedings of the IECON '93., International Conference on
Conference_Location :
Maui, HI
Print_ISBN :
0-7803-0891-3
DOI :
10.1109/IECON.1993.339322
