Robot Trajectory Control System Design for Multiple Simultaneous Specifications: Theory and Experimentation

[+] Author and Article Information
Hugh H. T. Liu, James K. Mills

Laboratory for Nonlinear Systems Control, Department of Mechanical and Industrial Engineering, University of Toronto, Toronto, Canada MSS 3G8

J. Dyn. Sys., Meas., Control 120(4), 520-523 (Dec 01, 1998) (4 pages) doi:10.1115/1.2801495 History: Received June 09, 1997; Online December 03, 2007


A new control design method is developed to satisfy multiple specifications simultaneously. The proposed convex combination method is applied to a six (6)-degree-of-freedom commercial robot. In a trajectory tracking task under external disturbance, four requirements, stability, path accuracy, velocity accuracy, and steady-state error of position, can be met at the same time. The experimental results verify this conclusion.

Copyright © 1998 by The American Society of Mechanical Engineers
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