Robust compensation for a robotic manipulator

In a suboptimally controlled manipulator arm, friction torque variations cause trajectory deviations and performance deterioration. On the other hand, the on-line computation of nonlinear terms of the suboptimal controller is time consuming or requires large memory space when table lookup techniques...

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Bibliographic Details
Published in:IEEE transactions on automatic control 1984-06, Vol.29 (6), p.564-567
Main Authors: Gong-Liang Luo, Saridis, G.
Format: Article
Language:English
Subjects:
Applied sciences
Computer science
control theory
systems
control systems
Control theory. Systems
Exact sciences and technology
Friction
Manipulator dynamics
manipulators
mechanical handling
Open loop systems
Orbital robotics
Robotics
Robots
Robust control
Robustness
State feedback
Table lookup
Torque control
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Summary:In a suboptimally controlled manipulator arm, friction torque variations cause trajectory deviations and performance deterioration. On the other hand, the on-line computation of nonlinear terms of the suboptimal controller is time consuming or requires large memory space when table lookup techniques are used. In order to obtain robustness against variations in open-loop dynamics and decrease the effect of nonlinear terms due to couplings in suboptimal control systems with quadratic performance indexes, in addition to state proportional feedback, it is necessary to introduce feedback associated with the derivatives of the state variables. This additional feedback may be implemented as minor compensating loops built around the individual joints with analog devices. As an example, torque compensation and acceleration compensation for the M.I.T. Scheinman arm are considered. They yield a simple linear controller with improved robustness.
ISSN:0018-9286
1558-2523
DOI:10.1109/TAC.1984.1103574