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TECHNICAL PAPERS

Design of a Robust H∞ PID Control for Industrial Manipulators

[+] Author and Article Information
Jonghoon Park, Wankyun Chung

Robotics Laboratory, School of Mechanical Engineering, Pohang University of Science & Technology (Postech), San-31, Hyoja-Dong, Pohang, 790-784, Korea

J. Dyn. Sys., Meas., Control 122(4), 803-812 (Dec 25, 1999) (10 pages) doi:10.1115/1.1310367 History: Received December 25, 1999
Copyright © 2000 by ASME
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References

Figures

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Generalized system in closed-loop configuration
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Generalized system in closed-loop configuration with disturbance reformulation
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Fara AS1 industrial manipulator
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Joint trajectory (left: proximal links, right: distal links)
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Error trajectory of the proposed REF control by L2-gain γi for i=1,2,3 and γj=0.2 for j=4,5,6 (left: proximal link, right: distal link)
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Desired joint velocity (left: proximal link error, right: distal link error)
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Error trajectory of the proposed REF control for a wide range of motion speed (left: proximal link, right: distal link)

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