Nonlinear robust industrial robot control

Chen-Yuan Kuo, Shay Ping T Wang

Research output: Contribution to journalArticle

38 Scopus citations

Abstract

A new nonlinear robot control scheme is proposed in this paper which is robust against modeling errors and unknown disturbance. The control input consists of a nonlinear part and a linear part. The nonlinear part decouples robot dynamics to obtain a set of equations in terms of each joint's input and output; the linear part applies robust servomechanism theory to suppress effects of modeling error and unknow disturbance. The nonlinear part can be calculated by using recursive Newton-Euler formulas or parallel processing hardware, and the linear part by dedicated, localized microprocessors.

Original languageEnglish (US)
Pages (from-to)24-30
Number of pages7
JournalJournal of Dynamic Systems, Measurement and Control, Transactions of the ASME
Volume111
Issue number1
StatePublished - Mar 1989

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Instrumentation

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