Industrial robot control in case of uncertain dynamical parameters

Author

Rudas, Imre J. ; Mester, Gyula

Author_Institution

Banki Donat Inst. of Technol., Budapest, Hungary

fYear

1991

fDate

3-5 Nov 1991

Firstpage

937

Abstract

The novel control method presented addresses the problem to design a nonlinear feedback controller in case of uncertain dynamical parameters and other disturbances. The input torques necessary to drive the robot manipulator are on-line computed as a function of the unbiased, minimum variance estimates of the joint coordinates and velocities, and the corrected accelerations. The state estimator is given by the discrete Schmidt-Kalman filter. The development of the system model, the control law and the implementation of the technique are outlined

Keywords

Kalman filters; State estimation; control system synthesis; dynamics; feedback; industrial robots; nonlinear control systems; state estimation; accelerations; design; discrete Schmidt-Kalman filter; disturbances; industrial robots; input torques; joint coordinates; manipulator; minimum variance estimates; nonlinear control systems; nonlinear feedback controller; state estimator; uncertain dynamical parameters; velocities; Acceleration; Adaptive control; Control system synthesis; Filters; Industrial control; Manipulator dynamics; Robot control; Robot kinematics; Service robots; State estimation;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on

Conference_Location

Osaka

Print_ISBN

0-7803-0067-X

Type

conf

DOI

10.1109/IROS.1991.174607

Filename

174607