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 language||English (US)|
|Number of pages||7|
|Journal||Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME|
|State||Published - Mar 1989|
ASJC Scopus subject areas
- Control and Systems Engineering