Nonlinear robust robot control in Cartesian coordinate.

Shay Ping T Wang, Chen-Yuan Kuo

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

1 Citation (Scopus)

Abstract

A nonlinear robust control scheme for robot motion control in the Cartesian coordinate is proposed. The control input of this scheme consists of a nonlinear and a linear part. The nonlinear part decouples and stabilizes the robot dynamics in the Cartesian coordinate. The linear part utilizes the robust servomechanism theory to suppress effects of modeling errors or unknown external disturbance. This scheme is used in the control of a two-joint, SCARA-type robot, and simulation results demonstrate that this nonlinear robust control scheme can achieve fast and yet precise tracking control in the Cartesian coordinate even at the presence of severe modeling errors.

Original languageEnglish (US)
Title of host publicationProceedings of the American Control Conference
PublisherPubl by American Automatic Control Council
Pages1339-1344
Number of pages6
Volume88 pt 1-3
StatePublished - 1988
Externally publishedYes

Fingerprint

Robots
Robust control
Servomechanisms
Motion control

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Wang, S. P. T., & Kuo, C-Y. (1988). Nonlinear robust robot control in Cartesian coordinate. In Proceedings of the American Control Conference (Vol. 88 pt 1-3, pp. 1339-1344). Publ by American Automatic Control Council.

Nonlinear robust robot control in Cartesian coordinate. / Wang, Shay Ping T; Kuo, Chen-Yuan.

Proceedings of the American Control Conference. Vol. 88 pt 1-3 Publ by American Automatic Control Council, 1988. p. 1339-1344.

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

Wang, SPT & Kuo, C-Y 1988, Nonlinear robust robot control in Cartesian coordinate. in Proceedings of the American Control Conference. vol. 88 pt 1-3, Publ by American Automatic Control Council, pp. 1339-1344.
Wang SPT, Kuo C-Y. Nonlinear robust robot control in Cartesian coordinate. In Proceedings of the American Control Conference. Vol. 88 pt 1-3. Publ by American Automatic Control Council. 1988. p. 1339-1344
Wang, Shay Ping T ; Kuo, Chen-Yuan. / Nonlinear robust robot control in Cartesian coordinate. Proceedings of the American Control Conference. Vol. 88 pt 1-3 Publ by American Automatic Control Council, 1988. pp. 1339-1344
@inproceedings{01755c9235db46489dfeb775d17a1dc6,
title = "Nonlinear robust robot control in Cartesian coordinate.",
abstract = "A nonlinear robust control scheme for robot motion control in the Cartesian coordinate is proposed. The control input of this scheme consists of a nonlinear and a linear part. The nonlinear part decouples and stabilizes the robot dynamics in the Cartesian coordinate. The linear part utilizes the robust servomechanism theory to suppress effects of modeling errors or unknown external disturbance. This scheme is used in the control of a two-joint, SCARA-type robot, and simulation results demonstrate that this nonlinear robust control scheme can achieve fast and yet precise tracking control in the Cartesian coordinate even at the presence of severe modeling errors.",
author = "Wang, {Shay Ping T} and Chen-Yuan Kuo",
year = "1988",
language = "English (US)",
volume = "88 pt 1-3",
pages = "1339--1344",
booktitle = "Proceedings of the American Control Conference",
publisher = "Publ by American Automatic Control Council",

}

TY - GEN

T1 - Nonlinear robust robot control in Cartesian coordinate.

AU - Wang, Shay Ping T

AU - Kuo, Chen-Yuan

PY - 1988

Y1 - 1988

N2 - A nonlinear robust control scheme for robot motion control in the Cartesian coordinate is proposed. The control input of this scheme consists of a nonlinear and a linear part. The nonlinear part decouples and stabilizes the robot dynamics in the Cartesian coordinate. The linear part utilizes the robust servomechanism theory to suppress effects of modeling errors or unknown external disturbance. This scheme is used in the control of a two-joint, SCARA-type robot, and simulation results demonstrate that this nonlinear robust control scheme can achieve fast and yet precise tracking control in the Cartesian coordinate even at the presence of severe modeling errors.

AB - A nonlinear robust control scheme for robot motion control in the Cartesian coordinate is proposed. The control input of this scheme consists of a nonlinear and a linear part. The nonlinear part decouples and stabilizes the robot dynamics in the Cartesian coordinate. The linear part utilizes the robust servomechanism theory to suppress effects of modeling errors or unknown external disturbance. This scheme is used in the control of a two-joint, SCARA-type robot, and simulation results demonstrate that this nonlinear robust control scheme can achieve fast and yet precise tracking control in the Cartesian coordinate even at the presence of severe modeling errors.

UR - http://www.scopus.com/inward/record.url?scp=0024136377&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0024136377&partnerID=8YFLogxK

M3 - Conference contribution

AN - SCOPUS:0024136377

VL - 88 pt 1-3

SP - 1339

EP - 1344

BT - Proceedings of the American Control Conference

PB - Publ by American Automatic Control Council

ER -