Title :
Multivariable control of the robot manipulator in the presence of time delay
Author :
Ozturk, Nevzat ; Fardanesh, Behruz
Author_Institution :
Dept. of Electr. Eng., Manhattan Coll., Riverdale, NY, USA
fDate :
28 Oct-1 Nov 1991
Abstract :
A controller design method based on a control scheme for trajectory tracking of the robot manipulators is presented in the presence of time delay. The Smith predictor is used to eliminate the delay from the characteristic equation in order to allow the application of the controller design method developed with the assumption that a time delay is not present in the robot dynamics. Thus, the control problem for the manipulator in the presence of a delay is converted to one without a time delay
Keywords :
control system synthesis; delays; multivariable control systems; predictive control; robots; Smith predictor; control system synthesis; controller design method; robot manipulator; time delay; trajectory tracking; Control systems; Delay effects; Design methodology; Manipulator dynamics; Nonlinear equations; Orbital robotics; Robot control; Service robots; State feedback; Trajectory;
Conference_Titel :
Industrial Electronics, Control and Instrumentation, 1991. Proceedings. IECON '91., 1991 International Conference on
Conference_Location :
Kobe
Print_ISBN :
0-87942-688-8
DOI :
10.1109/IECON.1991.239272
