Title :
An experimental comparison of robust control algorithms on a direct drive manipulator
Author :
Jaritz, Andre ; Spong, Mark W.
Author_Institution :
St. Gallen Univ., Switzerland
fDate :
11/1/1996 12:00:00 AM
Abstract :
In this paper we present an experimental comparison of recent passivity based robust control algorithms on a two-link direct-drive robot arm. The manipulator is actuated with high-torque brushless DC motors and is controlled by a digital signal processor (DSP) development system interfaced to a PC486 workstation. Four algorithms are compared with respect to ease of design, implementation, and performance of the closed-loop systems
Keywords :
DC motor drives; brushless DC motors; closed loop systems; computerised control; manipulator dynamics; robust control; velocity control; DSP development system; PC486 workstation; brushless DC motors; closed-loop systems; digital signal processor; direct drive manipulator; passivity; robust control; two-link robot arm; Brushless DC motors; Control systems; Digital control; Digital signal processing; Digital signal processors; Manipulators; Robots; Robust control; Signal processing algorithms; Workstations;
Journal_Title :
Control Systems Technology, IEEE Transactions on
