Robust nonlinear feedback control for robotic manipulators
作者:
V.D.Tourassis,
C.P.Neuman,
期刊:
IEE Proceedings D (Control Theory and Applications)
(IET Available online 1985)
卷期:
Volume 132,
issue 4
页码: 134-143
年代: 1985
DOI:10.1049/ip-d.1985.0026
出版商: IEE
数据来源: IET
摘要:
Nonlinear feedback control algorithms for manipulators utilise the complete (coupled and nonlinear) dynamic model to decouple the robot joints. In this framework, we present a comparative evaluation of the computed-torque and direct-design control algorithms, and outline the practical problems introduced by modelling inaccuracies, unmodelled dynamics and parameter errors. We then formulate the α-computed-torque nonlinear feedback control algorithm which is robust in the presence of the aforementioned error sources. Numerical experiments with cylindrical robots confirm the robustness and applicability of our α-computed-torque algorithm.
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