Nonlinear Robust Industrial Robot Control

[+] Author and Article Information
C. Y. Kuo

Mechanical and Aerospace Engineering Department, Arizona State University, Tempe, Ariz. 85287

Shay-Ping T. Wang

Intel Corporation, Chandler, Ariz. 85224

J. Dyn. Sys., Meas., Control 111(1), 24-30 (Mar 01, 1989) (7 pages) doi:10.1115/1.3153015 History: Received February 01, 1987; Online July 21, 2009


A new nonlinear robot control scheme is proposed in this paper which is robust against modeling errors and unknown disturbance. The control input consists of a nonlinear part and a linear part. The nonlinear part decouples robot dynamics to obtain a set of equations in terms of each joint’s input and output; the linear part applies robust servomechanism theory to suppress effects of modeling error and unknown disturbance. The nonlinear part can be calculated by using recursive Newton-Euler formulas or parallel processing hardware, and the linear part by dedicated, localized microprocessors. Therefore, this methodology is computationally efficient, and is applicable to general robot configuration. The scheme is applied to control a two-joint, SCARA-type robot. The simulation results demonstrate that this scheme can achieve fast and precise robot motion control under substantial modeling errors.

Copyright © 1989 by ASME
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