Improved Solutions to a Time-Delayed Control Scheme for Robot Manipulators : Experimental Studies

This paper presents the robust control scheme of improving the poor tracking performance owing to the defects of the time-delayed control (TDC) for robot manipulators. The defects of TDC include inaccurate estimation of an inertia matrix model and joint accelerations required to formulate the TDC sc...

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Bibliographic Details
Main Authors: Lee, Sang D., Jung, Seul
Format: Conference Proceeding
Language:English
Subjects:
Acceleration
Estimation
inertia and accelerations estimations
Manipulator dynamics
Mathematical model
Observers
RLS
robot arm
Robots
Stability analysis
state observer
Time-delayed control
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Summary:This paper presents the robust control scheme of improving the poor tracking performance owing to the defects of the time-delayed control (TDC) for robot manipulators. The defects of TDC include inaccurate estimation of an inertia matrix model and joint accelerations required to formulate the TDC scheme. The accuracy of estimating the inertia matrix and accelerations plays an important role in the control performance as well as the stability of TDC. To improve the estimation, the inertia matrix is identified by the recursive least square (RLS) method and the acceleration signals are estimated by a state observer (SOB). Tracking control performances of a manipulator by the proposed scheme are empirically tested and compared.
ISSN:2642-3901
DOI:10.23919/ICCAS50221.2020.9268211