On Model Feedback Control for Robot Manipulators

[+] Author and Article Information
T. Narikiyo

Department of Information & Control Engineering, Toyota Technological Institute, Tenpaku, Nagoya 468 Japan

T. Izumi

Department of Electrical Engineering, Yamaguchi University, Ube, Yamaguchi 755 Japan

J. Dyn. Sys., Meas., Control 113(3), 371-378 (Sep 01, 1991) (8 pages) doi:10.1115/1.2896420 History: Received March 24, 1989; Revised October 01, 1990; Online March 17, 2008


Robot manipulators are highly coupled nonlinear systems and their motions are influenced by uncertain dynamics such as coulomb friction. These nonlinearities and uncertainties disturb the performance of control systems. In this paper, a control design methodolgy is proposed for the purpose of reducing the adverse effects of parameter uncertainties and disturbances. This control structure is similar to that of classical control. Unlike classical control, this control methodology accommodates multivariate control systems with uncertain dynamics and disturbances. The control design methodology is applied to a three-degrees-of-freedom directly driven robot. Simulation and experimental results demonstrate excellent robustness.

Copyright © 1991 by The American Society of Mechanical Engineers
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