DocumentCode
294998
Title
A robust motion control of manipulators with parametric uncertainties and random disturbances
Author
Kaneko, Junji
Author_Institution
Inst. for Social Inf. Sci., Fujitsu Labs. Ltd., Shizuoka, Japan
Volume
2
fYear
1995
fDate
13-15 Dec 1995
Firstpage
1609
Abstract
A robust motion control scheme for manipulators is presented. From the viewpoints of practical use of manipulators, the effects of parametric uncertainties in dynamics and exogenous random disturbances are taken into account. The control problem is formulated as a minimax optimization problem. The derived optimal input is related to the level of uncertainties attenuation
Keywords
manipulator dynamics; minimax techniques; motion control; robust control; uncertain systems; dynamics; manipulators; minimax optimization; motion control; parametric uncertainties; random disturbances; robust control; Acceleration; Attenuation; Laboratories; Motion control; Noise robustness; Optimal control; Robust control; Torque control; Transmission line matrix methods; Uncertainty;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1995., Proceedings of the 34th IEEE Conference on
Conference_Location
New Orleans, LA
ISSN
0191-2216
Print_ISBN
0-7803-2685-7
Type
conf
DOI
10.1109/CDC.1995.480368
Filename
480368
Link To Document