Title :
Multivariable decentralized robot controller
Author_Institution :
Inst. of Autom. Control, Warsaw Univ. of Technol., Poland
Abstract :
This paper presents generalized method for multivariable linear control of robot manipulators. The scheme comprises an inner PD stabilizing and decoupling controller and an outer loop PI controller which is responsible for trajectory tracking. The control scheme enables online local linearization of the robot model and an arbitrary pole-placement by utilizing simple, closed-loop expression for computing matrix PD controller gains. Based on the generic approach robust, independent robot joint controller is designed. The proposed independent joint servo design method takes into account nonlinearity effects caused by changes of the link inertia. Developed controller is a significant improvement over traditional structures used in industrial robots
Keywords :
decentralised control; linearisation techniques; multivariable control systems; robots; robust control; tracking; two-term control; closed-loop expression; decoupling controller; inner PD stabilisation; joint servo; manipulators; multivariable decentralized controller; online local linearization; outer loop PI controller; pole-placement; robot; robust joint controller; trajectory tracking; Design methodology; Industrial control; Manipulators; PD control; Robot control; Robust control; Service robots; Servomechanisms; Tracking loops; Trajectory;
Conference_Titel :
Electrotechnical Conference, 1994. Proceedings., 7th Mediterranean
Conference_Location :
Antalya
Print_ISBN :
0-7803-1772-6
DOI :
10.1109/MELCON.1994.380999
