Control of Industrial Manipulators With Bounded Uncertainties

[+] Author and Article Information
R. Shoureshi

School of Mechanical Engineering, Purdue University, West Lafayette, Indiana 47907

M. J. Corless

School of Aeronautics and Astronautics, Purdue University, West Lafayette, Indiana 47907

M. D. Roesler

TRW, Redondo Beach, Calif. 90278

J. Dyn. Sys., Meas., Control 109(1), 53-59 (Mar 01, 1987) (7 pages) doi:10.1115/1.3143820 History: Received January 28, 1986; Online July 21, 2009


Present on-line control schemes for robotic manipulators require high computing power to perform real-time estimation and adaptation and/or an exact model of the manipulator. These requirements result in impractical control schemes for real industrial manipulators. This paper presents a new robust tracking control technique for industrial manipulators in the presence of various uncertainties. It does not require an exact model of the manipulator and it compensates for uncertainties in the system dynamics, such as friction, and uncertain inputs including load variations. The controller consists of two portions: one for the nominal part of the system, and the other portion for uncertainties compensation. This control scheme is simulated for a General Electric P50 robot and the results are presented.

Copyright © 1987 by ASME
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