DocumentCode :
2630434
Title :
Robust Control using Recursive Design Method for Flexible Joint Robot Manipulator
Author :
Yim, Jong-Guk ; Yeon, Je Sung ; Park, Jong Hyeon ; Lee, Sang-Hun ; Hur, Jong-Sung
Author_Institution :
Sch. of Mech. Eng., Hanyang Univ., Seoul
fYear :
2007
fDate :
10-14 April 2007
Firstpage :
3805
Lastpage :
3810
Abstract :
Flexible joint robot manipulators can be decomposed into two cascaded subsystems, a series connection of robot link dynamics and joint dynamics. For these flexible manipulators, we propose the robust controller using a recursive design method. The recursive design procedures are constructive and contain two steps. First, a fictitious robust controller for the robot link dynamics is designed as if the link dynamics had an independent control. As the fictitious control, a nonlinear Hinfin control using the energy dissipation is designed in the sense of L2-gain attenuation from the disturbance caused by uncertainties to performance. Second, a real robust control is designed recursively by using a Lyapunov´s second method. The designed robust control is applied to a 2 DOF robot manipulator with joint flexibilities.
Keywords :
Hinfin control; Lyapunov methods; flexible manipulators; manipulator dynamics; nonlinear control systems; robust control; 2 DOF robot manipulator; L2-gain attenuation; Lyapunov method; energy dissipation; flexible joint robot manipulator; nonlinear Hinfin control; recursive design method; robot joint dynamics; robot link dynamics; robust control; Control systems; Design methodology; Energy dissipation; Linear matrix inequalities; Manipulator dynamics; Nonlinear control systems; Robot sensing systems; Robotics and automation; Robust control; Uncertainty; Backstepping Control; Flexible Joint; H¿ Control; NLMI (Nonlinear Matrix Inequality); Robust Control;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 2007 IEEE International Conference on
Conference_Location :
Roma
ISSN :
1050-4729
Print_ISBN :
1-4244-0601-3
Electronic_ISBN :
1050-4729
Type :
conf
DOI :
10.1109/ROBOT.2007.364062
Filename :
4209680
Link To Document :
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