Title :
Digital implementation of robust μ-control for a robot manipulator
Author :
Fujita, Masayuki ; Namerikawa, Toru ; Uchida, Kenko
Author_Institution :
Sch. of Inf. Sci., Japan Adv. Inst. of Sci. & Technol., Ishikawa, Japan
fDate :
29 June-1 July 1994
Abstract :
In this paper, we experimentally evaluate the DSP-based controller performance against the sampling period with a robot manipulator. Robust robot control objectives are formulated using the complex structured singular value μ. Then the μ-synthesis technique is applied to construct a linear controller. The experimental results show that the high speed DSPs can bring out the high performance in the real-time robot control.
Keywords :
control system synthesis; digital signal processing chips; optimal control; robots; robust control; singular value decomposition; μ-synthesis technique; DSP-based controller performance; complex structured singular value; digital implementation; linear controller; real-time robot control; robot manipulator; robust μ-control; Control systems; Digital control; Digital signal processing; Manipulators; Robot control; Robust control; Robustness; Sampling methods; Signal sampling; Trajectory;
Conference_Titel :
American Control Conference, 1994
Print_ISBN :
0-7803-1783-1
DOI :
10.1109/ACC.1994.734999
