Title :
Error state controller for robotic manipulator
Author :
Zhang, Yun-sheng
Author_Institution :
Dept. of Autom, Kunming Inst. of Technol., China
Abstract :
In this paper, an error state controller based on a nonlinear inverse model and an error model is presented. By introducing some auxiliary signals and special matrices the resulting error state equations become linear and decoupled. An optimal error state control input can be determined which minimizes the N-step performance criterion. The simulation results show that this scheme guarantees that the robot performs exactly the same motions as predicted by the designated trajectory
Keywords :
differential equations; eigenvalues and eigenfunctions; manipulators; matrix algebra; motion control; multivariable systems; optimal control; decoupling control; differential equations; error state controller; matrix algebra; motion control; multivariable system structure; nonlinear inverse model; optimal control; performance criterion; robotic manipulator; Acceleration; Automatic control; Differential equations; Error correction; Inverse problems; Manipulator dynamics; Nonlinear equations; Robot control; Robotics and automation; Velocity control;
Conference_Titel :
Industrial Technology, 1994., Proceedings of the IEEE International Conference on
Conference_Location :
Guangzhou
Print_ISBN :
0-7803-1978-8
DOI :
10.1109/ICIT.1994.467174
