Image-based Robust Control of Robot Manipulators using Dynamic Compensator

Author

Chin Su Kim ; Kang Woong Lee

Author_Institution

Sch. of Electron., Telecommun. & Comput. Eng., Korea Aerosp. Univ., Goyang, South Korea

fYear

2010

fDate

June 30 2010-July 2 2010

Firstpage

5266

Lastpage

5271

Abstract

In this paper, we design an image-based robust feedback controller to compensate parametric uncertainties. The proposed controller using dynamic compensation scheme leads to improvement in transient response while achieving asymptotic regulation in the presence of parametric uncertainties. The ultimately uniform boundedness of the closed-loop system is proved by the Lyapunov method. The performance of the proposed control system is demonstrated by experiments of a 5 link SAMSUNG FARA industrial robot manipulator with two degree of freedom.

Keywords

Lyapunov methods; closed loop systems; industrial manipulators; regulation; robot vision; robust control; transient response; Lyapunov method; SAMSUNG FARA; asymptotic regulation; closed loop system; dynamic compensator; feedback controller; image based robust control; industrial robot manipulator; parametric uncertainty; transient response; Adaptive control; Control systems; Electrical equipment industry; Industrial control; Lyapunov method; Manipulator dynamics; Robots; Robust control; Transient response; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference (ACC), 2010

Conference_Location

Baltimore, MD

ISSN

0743-1619

Print_ISBN

978-1-4244-7426-4

Type

conf

DOI

10.1109/ACC.2010.5530706

Filename

5530706