Title :
An experimental facility for nonlinear robot control
Author :
Van Beek, Bert ; De Jager, Bram
Author_Institution :
R&D, Oce-Technol., Venlo, MA, USA
Abstract :
An experimental facility for evaluating robot controllers is discussed. Highlighted are the motivation for the need of such a system, its design, modeling, construction, and general use. A recently proposed globally stable PID type controller and a passivity based computed torque controller were implemented and some preliminary experimental results are presented. They illustrate the usefulness of this facility
Keywords :
nonlinear control systems; robots; stability; test facilities; three-term control; globally stable PID type controller; nonlinear robot control; passivity based computed torque controller; robot controller evaluation facility; Friction; Gears; Nonlinear dynamical systems; Robot control; Robot kinematics; Robot sensing systems; Stability; Torque control; USA Councils; Velocity control;
Conference_Titel :
Control Applications, 1999. Proceedings of the 1999 IEEE International Conference on
Conference_Location :
Kohala Coast, HI
Print_ISBN :
0-7803-5446-X
DOI :
10.1109/CCA.1999.806732
