Hostname: page-component-7b7567c8c-wxvwp Total loading time: 0 Render date: 2026-11-15T11:05:04.443Z Has data issue: false hasContentIssue false
  • English
  • Français

Robust control of a robot manipulator with nonlinearity

Published online by Cambridge University Press:  09 March 2009

Katsuhisa Furuta,
Kazuhiro Kosuge,
Osamu Yamano and
Kageharu Nosaki
Katsuhisa Furuta
Affiliation:
Department of Control Engineering, Tokyo Institute of Technology, Oh-Okayama 2-12-1, Meguro-ku, Tokyo (Japan) 152
Kazuhiro Kosuge
Affiliation:
Department of Control Engineering, Tokyo Institute of Technology, Oh-Okayama 2-12-1, Meguro-ku, Tokyo (Japan) 152
Osamu Yamano
Affiliation:
Department of Control Engineering, Tokyo Institute of Technology, Oh-Okayama 2-12-1, Meguro-ku, Tokyo (Japan) 152
Kageharu Nosaki
Affiliation:
Production Engineering Department, SONY Corporation, Kitashinagawa 6-chome, Shinagawa-ku, Tokyo (Japan)
Get accessRights & Permissions [Opens in a new window]

Summaruy

This paper deals with the control technique of a computer-controlled manipulator with high nonlinearity. To overcome the nonlinearity, a linearization of the system by nonlinear feedback has been employed. Because of the difficulty of the parameter identification under the variation of load, it is not easy to make correct nonlinear compensation for its linearization. In this paper, to solve this problem a robust servo controller based on a model is designed for the linearized manipulator, and a control system is constructed taking account of input nonlinearity. The method is applied to the three-joint manipulator endowed with a software servo using a minicomputer, and the effect of the proposed method is investigated.

Information

Type
Article
Information
Robotica , Volume 2 , Issue 2 , April 1984, pp. 75 - 81
Copyright
Copyright © Cambridge University Press 1984

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

Article purchase

Temporarily unavailable

References

1Paul, R.P.Robot Manipulators: Mathematics, Programing, and Control (MIT Press, Cambridge, Mass., 1981).Google Scholar
2Luh, J.Y.S., Walker, M.W. & Paul, R.P., “ResolvedAcceleration Control of Mechanical Manipulators” IEEE AC-25, No. 3, 468–474 (1980).Google Scholar
3Golla, D.F., Garg, S.C. & Hughes, P.C., “Linear State-Feedback Control of Manipulators” Mech. Machine Theory 16, 93–103 (1981).CrossRefGoogle Scholar
4Freund, E., “Fast Nonlinear Control with Arbitrary Pole-Placement for Industrial Robots and Manipulators” Int. J. Robotics Res., 1, No. 1, 65–78 (1982).CrossRefGoogle Scholar
5Takase, K., “Generalized Decomposition and Control of a Motion of a Manipulator”, Trans. SICE 12, No. 3, 300–306 (1976).CrossRefGoogle Scholar
6Asada, H., “Development of a Direct-Drive Robot and Evaluation of its Control Performance” Trans. SICE 19, No. 5, 77–84 (1983).CrossRefGoogle Scholar
7Takegaki, M. & Arimoto, S., “An Adaptive Trajectory Control of Manipulators” Int. J. of Control 34, No. 2, 219–230 (1981).CrossRefGoogle Scholar
8Koivo, A. & Ten-Kueiguo, , “Adaptive Linear Controller for Robotic Manipulators” IEEE AC-28, No. 2, 162–171 (1983).Google Scholar
9Chung, M.J. & Lee, C.S., “An Adaptive Control Strategy for Computer-Based Manipulators” RDS-TR-10–82 The Univ. of Michigan, 1–39 (1982).Google Scholar
10Cuetkovic, V. & Vukobratovic, M., “One Robust Dynamic Control Algorithm for Manipulator Systems” Int. J. Robotics Res. 1, No. 4, 15–28 (1982).CrossRefGoogle Scholar
11Brady, M., Hollerbach, J.M., Johnson, T.L., Lozano-Perez, T. & Mason, M.T., Robot Motion (MIT Press, Cambridge, Mass., 1982).Google Scholar
12Luh, J.Y.S., Walker, M.W. & Paul, R.P., “On-Line Computational Scheme for Mechanical Manipulators” J. Dynamic System, Measurement, Control 102, 69–76 (1980a).CrossRefGoogle Scholar
13Furuta, K. et al. , “Computer Aided Design Program for Linear Multivariable Control System” Computer Aided Design of Control System Pergamon Press, Oxford, 1980).Google Scholar
14Furuta, K. & Komiya, K., “Design of Model Following Servo Controller” IEEE AC-27, No. 3, 725–727 (1982).Google Scholar