Nonlinear Robust Hybrid Control of Robotic Manipulators

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

Mechanical and Aerospace Engineering Department, Arizona State University

Shay-Ping T. Wang

Intel Corporation, Chandler, AZ 85224

J. Dyn. Sys., Meas., Control 112(1), 48-54 (Mar 01, 1990) (7 pages) doi:10.1115/1.2894138 History: Received September 21, 1987; Revised November 01, 1988; Online March 17, 2008


The success of a robot force and position (hybrid) control scheme relies extensively upon its robustness against uncertainties such as unknown external disturbance or modeling errors in the description of robot, sensor and environment. In this paper we propose a new nonlinear robust hybrid control scheme for robot motion control. The control input consists of a nonlinear and a linear part. The nonlinear input decouples a robot dynamics and gives a set of position and force equations in the hand or cartesian coordinates. The linear part applies the servomechanism theory to suppress position or force tracking error due to uncertainties. This nonlinear robust hybrid control scheme is applied to a two-joint SCARA type robot, and simulation results demonstrate excellent robustness properties and satisfactory hybrid control under severe modeling errors.

Copyright © 1990 by The American Society of Mechanical Engineers
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