Title :
Robust control of manipulator arms
Author :
Horst Salzwedel ; Kosut, R.L. ; Emami-Naeini, Abbas
Author_Institution :
Systems Control Technology, Inc., Palo Alto, CA
Abstract :
A method for the sythesis and analysis of robust control designs for high performance manipulator arms is described. Input-output norms are used to analyze the robustness of flexible manipulator control designs in the presence of flexible mode spillover and parameter uncertainty. A multivariable Wiener-Hopf control design is used to provide high gains in the necessary frequency range and low gaines outside this range, in order to achieve performance and stability robustness.
Keywords :
Arm; Automatic control; Control design; Control systems; Force control; Frequency; Manipulator dynamics; Open loop systems; Robust control; Robust stability;
Conference_Titel :
Decision and Control including the Symposium on Adaptive Processes, 1981 20th IEEE Conference on
Conference_Location :
San Diego, CA, USA
DOI :
10.1109/CDC.1981.269525
