Title :
Experimental evaluation of adaptive and robust schemes for robot manipulator control
Author :
Kim, Kyunghwan ; Hori, Yoichi
Author_Institution :
Dept. of Electr. Eng., Tokyo Univ., Japan
Abstract :
Adaptive and robust control schemes are compared in tracking control of a robot manipulator. In adaptive control, we classify the adaptive control laws into three types and then investigate their tracking performances by experiment. In robust control, a two degree of freedom controller is examined. We demonstrate its strong disturbance rejection performance and robustness to parameter variation. Finally, we consider the advantages of both of the control schemes
Keywords :
adaptive control; control system synthesis; manipulators; motion control; robust control; adaptive control; disturbance rejection performance; parameter variation robustness; robot manipulator control; robot motion control; robust control; tracking control; two degree of freedom controller; Adaptive control; Manipulator dynamics; Motion control; Parameter estimation; Programmable control; Robot control; Robot motion; Robust control; Robustness; Uncertainty;
Conference_Titel :
Industrial Electronics, Control, and Instrumentation, 1995., Proceedings of the 1995 IEEE IECON 21st International Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-3026-9
DOI :
10.1109/IECON.1995.483976
