NONLINEAR ROBUST HYBRID CONTROL OF ROBOT MANIPULATORS.

Shay Ping T. Wang, C. Y. Kuo

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

5 Scopus citations

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 languageEnglish (US)
Title of host publicationUnknown Host Publication Title
PublisherIEEE
Pages1204-1212
Number of pages9
ISBN (Print)0818608528
StatePublished - Jan 1 1988
Externally publishedYes

ASJC Scopus subject areas

  • Engineering(all)

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