Title :
A necessary and sufficient condition for robust decentralized controllability of robot manipulators
Author_Institution :
Inst. of Mech., Bulgarian Acad. of Sci., Sofia, Bulgaria
fDate :
29 June-1 July 1994
Abstract :
A simple, explicit condition on the inverse inertia matrix of robot manipulators is found to be necessary and sufficient for a system of decentralized joint controllers to be robust to bounded disturbances of various nature. Most properly designed nonredundant manipulators satisfy that condition, and for such robots, a system of sliding mode controllers with clearly determined robustness characteristics is proposed.
Keywords :
controllability; decentralised control; manipulators; matrix algebra; robust control; variable structure systems; bounded disturbances; decentralized joint controllers; explicit condition; inverse inertia matrix; necessary and sufficient condition; nonredundant manipulators; robot manipulators; robust decentralized controllability; robustness characteristics; sliding mode controllers; Control systems; Controllability; Friction; Manipulator dynamics; Nonlinear dynamical systems; Robot kinematics; Robust control; Robustness; Sliding mode control; Sufficient conditions;
Conference_Titel :
American Control Conference, 1994
Print_ISBN :
0-7803-1783-1
DOI :
10.1109/ACC.1994.752485
