DocumentCode :
3345397
Title :
A Robust Compliant Motion Control of Robot with Certain Hard Nonlinearities Using Time Delay Estimation
Author :
Jin, Maolin ; Kang, Sang Hoon ; Chang, Pyung Hun
Author_Institution :
Dept. of Mech. Eng., Korea Adv. Inst. of Sci. & Technol.
Volume :
1
fYear :
2006
fDate :
9-13 July 2006
Firstpage :
311
Lastpage :
316
Abstract :
A new robust compliant motion control technique is presented for robot manipulator with certain hard nonlinearities. The control technique incorporates both time-delay estimation technique and ideal velocity feedback: the former is used to cancel out soft nonlinearities and uncertainties in dynamics model; the latter is used to mask hard nonlinearities. As a result, the proposed controller has simple structure and yet possesses robustness in the presence of certain hard nonlinearities. The same control structure can be used for both free space motion and constrained motion of robot manipulator. Through experiments on a 2-DOF SCARA type robot, the proposed controller has been compared favorably to other competent controllers, thereby confirming its effectiveness
Keywords :
control nonlinearities; delays; manipulators; motion control; robust control; 2-DOF SCARA type robot; robot manipulator; robust compliant motion control; time delay estimation; velocity feedback; Control nonlinearities; Delay effects; Delay estimation; Manipulator dynamics; Motion control; Motion estimation; Orbital robotics; Robots; Robust control; Velocity control;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Industrial Electronics, 2006 IEEE International Symposium on
Conference_Location :
Montreal, Que.
Print_ISBN :
1-4244-0496-7
Electronic_ISBN :
1-4244-0497-5
Type :
conf
DOI :
10.1109/ISIE.2006.295612
Filename :
4077943
Link To Document :
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