NONLINEAR ROBUST HYBRID CONTROL OF ROBOT MANIPULATORS.

Shay Ping T. Wang; C. Y. Kuo

NONLINEAR ROBUST HYBRID CONTROL OF ROBOT MANIPULATORS.

Shay Ping T. Wang, C. Y. Kuo

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

The authors propose a nonlinear robust hybrid control scheme for robot motion control. The control input consists of a nonlinear and a linear part. The nonlinear input decouples a robot dynamics and obtains a set of position and force equations in the hand or Cartesian coordinate. The linear part applies the robust servomechanism theory to suppress position or force tracking error due to uncertainties. This nonlinear robust hybrid control scheme is applied to a two-joint SCARA-type robot, and simulation results demonstrate excellent robustness properties and satisfactory hybrid control, even under severe modeling errors.

Original language	English (US)
Title of host publication	Unknown Host Publication Title
Publisher	IEEE
Pages	1204-1212
Number of pages	9
ISBN (Print)	0818608528
State	Published - Jan 1 1988
Externally published	Yes

ASJC Scopus subject areas

General Engineering

Cite this

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title = "NONLINEAR ROBUST HYBRID CONTROL OF ROBOT MANIPULATORS.",

abstract = "The authors propose a nonlinear robust hybrid control scheme for robot motion control. The control input consists of a nonlinear and a linear part. The nonlinear input decouples a robot dynamics and obtains a set of position and force equations in the hand or Cartesian coordinate. The linear part applies the robust servomechanism theory to suppress position or force tracking error due to uncertainties. This nonlinear robust hybrid control scheme is applied to a two-joint SCARA-type robot, and simulation results demonstrate excellent robustness properties and satisfactory hybrid control, even under severe modeling errors.",

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year = "1988",

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N2 - The authors propose a nonlinear robust hybrid control scheme for robot motion control. The control input consists of a nonlinear and a linear part. The nonlinear input decouples a robot dynamics and obtains a set of position and force equations in the hand or Cartesian coordinate. The linear part applies the robust servomechanism theory to suppress position or force tracking error due to uncertainties. This nonlinear robust hybrid control scheme is applied to a two-joint SCARA-type robot, and simulation results demonstrate excellent robustness properties and satisfactory hybrid control, even under severe modeling errors.

AB - The authors propose a nonlinear robust hybrid control scheme for robot motion control. The control input consists of a nonlinear and a linear part. The nonlinear input decouples a robot dynamics and obtains a set of position and force equations in the hand or Cartesian coordinate. The linear part applies the robust servomechanism theory to suppress position or force tracking error due to uncertainties. This nonlinear robust hybrid control scheme is applied to a two-joint SCARA-type robot, and simulation results demonstrate excellent robustness properties and satisfactory hybrid control, even under severe modeling errors.

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UR - http://www.scopus.com/inward/citedby.url?scp=0023750819&partnerID=8YFLogxK

M3 - Conference contribution

SN - 0818608528

SP - 1204

EP - 1212

BT - Unknown Host Publication Title

PB - IEEE

ER -

NONLINEAR ROBUST HYBRID CONTROL OF ROBOT MANIPULATORS.

Abstract

ASJC Scopus subject areas

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