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 language | English (US) |
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| Title of host publication | Proc USA Jpn Symp Flexible Autom Crossing Bridges Adv Flexible Autom Rob |
| Place of Publication | New York, NY, United States |
| Publisher | Publ by American Soc of Mechanical Engineers (ASME) |
| Pages | 189-196 |
| Number of pages | 8 |
| State | Published - 1988 |
| Event | Proceedings of the USA-Japan Symposium on Flexible Automation - Crossing Bridges: Advances in Flexible Automation and Robotics - Minneapolis, MN, USA Duration: Jul 18 1988 → Jul 20 1988 |
Other
| Other | Proceedings of the USA-Japan Symposium on Flexible Automation - Crossing Bridges: Advances in Flexible Automation and Robotics |
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| City | Minneapolis, MN, USA |
| Period | 7/18/88 → 7/20/88 |
ASJC Scopus subject areas
- General Engineering