Fine motion control by making actuators sensible

Author

Zhu, H.A. ; Teo, C.L. ; Hong, G.S. ; Poo, A.N.

Author_Institution

Dept. of Mech. & Production Eng., Nat. Univ. of Singapore, Singapore

Volume

2

fYear

1993

fDate

26-30 Jul 1993

Firstpage

997

Abstract

The nonlinear and cross-coupled dynamics of motor-manipulator systems is studied, and a control strategy is developed for achieving ease of controller design and high control performance. By using the algorithm developed in this paper, not only can the highly complicated motor-manipulator dynamics be effectively controlled, but the motors are also made "sensible" for sensing and compensating for the uncertain dynamics acting at manipulator joints. Furthermore, as a significant result, the modeling difficulty and control complexity of the manipulator dynamics can be significantly reduced

Keywords

manipulator dynamics; compensation; control complexity; control performance; control strategy; controller design; cross-coupled dynamics; fine motion control; manipulator joints; modeling difficulty; motor-manipulator; nonlinear dynamics; sensible actuators; uncertain dynamics; Actuators; Control systems; Couplings; Manipulator dynamics; Motion control; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear equations; Torque; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems '93, IROS '93. Proceedings of the 1993 IEEE/RSJ International Conference on

Conference_Location

Yokohama

Print_ISBN

0-7803-0823-9

Type

conf

DOI

10.1109/IROS.1993.583276

Filename

583276