A two degrees of freedom control design for robot manipulator using internal model structure

Author

Chan, S.P.

Author_Institution

Sch. of Electr. & Electron. Eng., Nanyang Technol. Univ., Singapore

fYear

1991

fDate

28 Oct-1 Nov 1991

Firstpage

1240

Abstract

A two degrees of freedom control structure is proposed for trajectory tracking of a robot manipulator. Based on the internal model control concept, a disturbance controller is designed to decouple dynamic interactions among joints. Since joint dynamics are linearized and decoupled, design of the tracking controller is greatly simplified. To account for practical limitations, a sliding mode control technique is adopted to enhance robustness. A computer simulation study of a two-link manipulator produced satisfactory results

Keywords

control system synthesis; position control; robots; variable structure systems; control system synthesis; disturbance controller; enhance robustness; internal model structure; position control; robot manipulator; sliding mode control; trajectory tracking; two degrees of freedom control design; two-link manipulator; Computer simulation; Control design; Manipulator dynamics; Nonlinear dynamical systems; Robot kinematics; Robust control; Servomechanisms; Sliding mode control; Torque; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics, Control and Instrumentation, 1991. Proceedings. IECON '91., 1991 International Conference on

Conference_Location

Kobe

Print_ISBN

0-87942-688-8

Type

conf

DOI

10.1109/IECON.1991.239264

Filename

239264