Title :
Nonlinear tracking control for a tetrabot robot
Author :
Liqun Yao ; Spurgeon, Sarah K.
Author_Institution :
Dept. of Eng., Univ. of Leicester, Leicester, UK
Abstract :
Results of the application of an advanced nonlinear controller to the problem of joint motion control for a robot are presented. For a class of desired state motions a control strategy is presented which ensures that the system asymptotically tracks the desired motion to any desired degree of accuracy. The results are applied to a three degree of freedom Tetrahedral robot. Simulation results and experimental studies are described.
Keywords :
asymptotic stability; control system synthesis; end effectors; motion control; nonlinear control systems; control strategy; degree-of-accuracy; joint motion control; nonlinear tracking control; three-degree-of-freedom Tetrahedral robot; Joints; Mathematical model; Robots; Torque; Tracking; Trajectory; Wrist; Nonlinear control; Robotics; Uncertain systems;
Conference_Titel :
Control Conference (ECC), 1997 European
Conference_Location :
Brussels
Print_ISBN :
978-3-9524269-0-6
