Journal ArticleDOI
Robust Microprocessor Control of Robot Manipulators
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TLDR
Using the theory of uncertain dynamical systems, robust nonlinear control strategies are derived with guaranteed tracking properties that can be quantified given bounds on the extent of model uncertainty.About:
This article is published in IFAC Proceedings Volumes.The article was published on 1985-11-01. It has received 23 citations till now. The article focuses on the topics: Robust control & Revolute joint.read more
Citations
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Journal ArticleDOI
A fully adaptive decentralized control of robot manipulators
Su-Hau Hsu,Li-Chen Fu +1 more
TL;DR: A fully adaptive decentralized controller of robot manipulators for trajectory tracking with high-order and adaptive variable-structure compensations that makes both position and velocity tracking errors of robot manipulation globally converge to zero asymptotically while allowing all signals in closed-loop systems to be bounded.
Journal ArticleDOI
Comparative study of robust saturation-based control of robot manipulators: analysis and experiments
TL;DR: The best tracking performance was achieved under the proposed control method based on dynamic model decomposition, which deals with different sources of uncertainty separately and possesses an enhanced fine-tuning ability.
Proceedings ArticleDOI
Development of an FPGA-Based Motion Control ASIC for Robotic Manipulators
Xiaoyin Shao,Dong Sun +1 more
TL;DR: The new designed ASIC can be incorporated with a general-purpose microcontroller or DSP to provide a simple, compact, low-cost, and effective solution for high-performance motion control.
Journal ArticleDOI
Robust control of robot manipulators based on dynamics decomposition
TL;DR: A new robust saturation-based control method for robot manipulators that distinguishes between uncertainty in the inertia, Coriolis and centripetal forces, gravity and friction and a robust compensator that can be adjusted accordingly.
Proceedings ArticleDOI
Dynamic damping control: implementation issues and simulation results
TL;DR: It is shown that as the manipulator inertia decreases, the amount of torque commands by the dynamic damping control law exceeds the torque commanded by computed torque and PD controllers, resulting in greater bandwidth.
References
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Journal ArticleDOI
Uncertain dynamical systems--A Lyapunov min-max approach
TL;DR: In this article, a class of dynamical systems in the presence of uncertainty is formulated by contingent differential equations, and the uncertainty is deterministic; the only assumption is that its value belongs to a known compact set.
Robot arm dynamics and control
TL;DR: In this article, the relation between the dynamical state equations in explicit terms and servoing the manipulator is briefly discussed in the framework of state variable feedback control which also forms the basis of adaptive manipulator control.
Journal ArticleDOI
On guaranteed stability of uncertain linear systems via linear control
J. S. Thorp,B. R. Barmish +1 more
TL;DR: In this paper, the problem of stabilizing an uncertain linear system is addressed, and the stabilizing control in this paper is linear; for this same class of problems, many of the existing results would require a nonlinear control.
Journal ArticleDOI
Paper: Linear ultimate boundedness control of uncertain dynamical systems
TL;DR: It is shown that a class of ultimate boundedness problems which have been solved to date via nonlinear control, can in point of fact be solved via linear control and some of the so-called matching assumptions can be weakened somewhat.
Journal ArticleDOI
The control of robot manipulators with bounded input
TL;DR: In this paper, the problem of tracking a desired trajectory in the state space of an n-link robotic manipulator with bounds on the allowable input torque is considered, and a pointwise optimal control law is derived which, at each time t, minimizes the deviation between the vector of joint accelerations and a desired joint acceleration vector, subject to the input constraints.