Robust Tracking Control of a Direct Drive Robot

[+] Author and Article Information
Bong Soo Kang, Soo Hyun Kim, Yoon Keun Kwak

Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, 373-1, Kusong-dong, Yusong-gu, Taejon 305-701, Korea

Craig C. Smith

Department of Mechanical Engineering, Brigham Young University, Provo, Utah 84602-4102

J. Dyn. Sys., Meas., Control 121(2), 261-269 (Jun 01, 1999) (9 pages) doi:10.1115/1.2802464 History: Received January 13, 1999; Online December 03, 2007


This paper presents a robust controller for tracking control of a direct-drive robot. The proposed controller consists of two portions: a computed torque method which precompensates for dynamics of the modeled plant and an H∞ controller which postcompensates for residual errors which are not completely removed by the computed torque method. Experimental methods for identifying appropriate model structure and parameters are presented, and three specific controller types are compared. Using the robot designed in our laboratory, the combined controller reduced tracking errors by one half compared to computed torque control alone, and by one sixth compared to conventional independent joint control.

Copyright © 1999 by The American Society of Mechanical Engineers
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