Experimental study of nonlinear robust robot motion control

Chen-Yuan Kuo, P. Jeng

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This research implements the nonlinear robust control scheme proposed by Wang and Kuo (1987) on a real two-joint SCARA-type robot. This scheme is based on the multivariable robust servomechanism theory and consists of two parts. The nonlinear part applies nonlinear state feedback to obtain a set of decoupled equations in joint coordinate. The linear part utilizes the effects of uncertainties. The real time evaluation of this nonlinear robust control scheme was realized on an IBM PC-AT compatible computer interfaced to the robot arm by custom built electronic hardware. The merits of this proposed robust control law were compared against those of a linear PD and a nonlinear decoupling control scheme and a significant decrease in tracking errors was noticed.

Original languageEnglish (US)
Title of host publicationProc USA Jpn Symp Flexible Autom Crossing Bridges Adv Flexible Autom Rob
Place of PublicationNew York, NY, United States
PublisherPubl by American Soc of Mechanical Engineers (ASME)
Pages189-196
Number of pages8
Publication statusPublished - 1988
EventProceedings of the USA-Japan Symposium on Flexible Automation - Crossing Bridges: Advances in Flexible Automation and Robotics - Minneapolis, MN, USA
Duration: Jul 18 1988Jul 20 1988

Other

OtherProceedings of the USA-Japan Symposium on Flexible Automation - Crossing Bridges: Advances in Flexible Automation and Robotics
CityMinneapolis, MN, USA
Period7/18/887/20/88

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ASJC Scopus subject areas

  • Engineering(all)

Cite this

Kuo, C-Y., & Jeng, P. (1988). Experimental study of nonlinear robust robot motion control. In Proc USA Jpn Symp Flexible Autom Crossing Bridges Adv Flexible Autom Rob (pp. 189-196). New York, NY, United States: Publ by American Soc of Mechanical Engineers (ASME).