Nonlinear dynamics and motion control of high-performance robotic manipulators with direct drive brushless actuators

Proceedings of the IEEE Conference on Decision and Control

Volumn 1, Issue , 1998, Pages 937-942

  Lyshevski, Sergey Edward ^a  

^a INDIANA UNIVERSITY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

DIRECT DRIVE BRUSHLESS ACTUATORS;

ACTUATORS; ATTENUATION; CONTROL NONLINEARITIES; CONTROL SYSTEM ANALYSIS; CONTROL SYSTEM SYNTHESIS; INDUSTRIAL ROBOTS; KINEMATICS; MANIPULATORS; POSITION CONTROL; PROBLEM SOLVING; TRACKING (POSITION);

MOTION CONTROL;

EID: 0032255739     PISSN: 01912216     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Article

References (10)

1. H. Asada and J.-J. E. Slotine, Robot Analysis and Control, Wiley, New York, 1986.
2. J. J. Craig, Introduction to Robotics: Mechanics and Control. Addison-Wesley, Reading, MA, 1989.
3. G. Liu and A. A. Goldenberg, "Uncertainty decomposition-based robust control of robot manipulators," IEEE Transactions on Control Systems Technology, vol. 4, no. 4, pp. 384-393, 1996.
4. S. Lyshevski, "Nonlinear dynamics and tracking control of robotic manipulators," Proc. Conf. Decision and Control, San Diego, CA, vol. 1, pp. 803-808, 1997.
5. M. W. Spong and M. Vidyasagar, Robot Dynamics and Control. John Wiley and Sons, New York, 1989.
6. E. Reithmeier and G. Leitmann, "Tracking and force control for a class of robotics manipulators," Dynamics and Control, vol. 1, no. 2, pp. 133-150, 1991.
7. B. Yao, and M. Tomizuka, "Comparative experiments of robust and adaptive control with new robust adaptive controllers for robot manipulators," Proc. Conf. Decision and Control, Lake Buena Vista, PL, vol. 2, pp. 1290-1295, 1994.
8. S. Lyshevski, "Motion control of electromechanical servo-devices with permanent-magnet stepper motors," Mechatronics, vol. 7, no. 6, pp. 521-536, 1997.
9. S. Lyshevski, "Robust control of nonlinear continuous-time systems with parameter uncertainties and input bounds," International Journal Systems Science, no. 9, 1998.
10. S. Lyshevski, "State-space model identification of deterministic nonlinear systems: nonlinear mapping technology and application of Lyapunov theory" Automatica, vol. 34, no. 5, pp. 659-664, 1998.