DocumentCode
291241
Title
Two-stage control approach of a robot manipulator for conveyor tracking application
Author
Park, T.H. ; Lee, B.H. ; Suh, I.H.
Author_Institution
Samsung Aerosp. Ind. Ltd., Seoul, South Korea
Volume
2
fYear
1994
fDate
5-9 Sep 1994
Firstpage
691
Abstract
A robot control scheme for the specific application to conveyor tracking is newly proposed. To improve the performance of conveyor tracking, the robot arm dynamics is incorporated into the control scheme. The proposed scheme also takes the torque and smoothness constraints into account for optimal conveyor-tracking. Dividing the conveyor speed into the nominal term and the perturbed term, a two-stage control strategy is employed to cope with the nonlinearity and uncertainty of the robot-conveyor system
Keywords
industrial manipulators; manipulator dynamics; nonlinear control systems; optimal control; nonlinearity; optimal conveyor-tracking; perturbation; robot arm dynamics; robot manipulator; smoothness constraints; torque constraints; two-stage control approach; uncertainty; Aerodynamics; Control systems; Manipulator dynamics; Motion control; Robot control; Robot kinematics; Robot sensing systems; Service robots; Target tracking; Torque;
fLanguage
English
Publisher
ieee
Conference_Titel
Industrial Electronics, Control and Instrumentation, 1994. IECON '94., 20th International Conference on
Conference_Location
Bologna
Print_ISBN
0-7803-1328-3
Type
conf
DOI
10.1109/IECON.1994.397868
Filename
397868
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