Robust tracking control of a direct drive robot

Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME

Volumn 121, Issue 2, 1999, Pages 261-269

  Kang, Bong Soo ^a   Kim, Soo Hyun ^a   Kwak, Yoon Keun ^a   Smith, Craig C ^b  

^a Korea Advanced Institute of Science and Technology (KAIST)   (South Korea)

^b Department of Electrical and Computer Engineering   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

OPTIMAL CONTROL SYSTEMS; ROBOTS; ROBUSTNESS (CONTROL SYSTEMS); TORQUE CONTROL; UNIVERSAL JOINTS;

COMPUTED TORQUE CONTROLLERS; DIRECT DRIVE ROBOTS; TRACKING CONTROL;

MOTION CONTROL;

EID: 0032680984     PISSN: 00220434     EISSN: 15289028     Source Type: Journal    
DOI: 10.1115/1.2802464     Document Type: Article

References (18)

1. An, C. H., Atkenson, C. G., and Hollerbach, J. M., 1988, Model-Based Control of a Robot Manipulator, The MIT Press.
2. Asada, H. and Kanade, T., 1983, “Design of Direct-Drive Mechanical Arms,” ASME Journal of Vibration, Acoustic, Stress, and Reliability in Design, Vol. 105(3): pp. 312-316.
3. Asada, H. and Youcef-Toumi, K., 1983, “Analysis and Design of Semi-Direct-Drive Robot Arms,” Proc. of American Control Conference, pp. 757-764, San Francisco.
4. Asada, H. and Youcef-Toumi, K., 1984, “Analysis and Design of a Direct-Drive Arm with a Five-Bar Link Parallel Drive Mechanism,” ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 106(3): pp. 225-230.
5. Craig, J. J., 1986, Introduction to Robotics—Mechanics &Control, Addison-Wesley.
6. x Control Problems,” IEEE Transactions on Automatic Control, Vol. 34, No. 8, Aug.
7. Francis, B. A., 1987, A Course in H, Control Theory, Vol. 88 in Lecture Notes in Control and Information Science Series.
8. Glover, K., and Doyle, J. C., 1988, “State Space Formulae for All Stabilizing Controllers that satisfy an //»-norm Bound and Relations to Risk Sensitivity,” System and Control Letters.
9. Isidori, A., and Astolfi, A., 1992, “Disturbance Attenuation and //« Control via Measurement Feedback in Nonlinear System,” IEEE Transactions on Automatic Control, Vol. 37, pp. 1283-1293.
10. Khosla, P. K., and Kanade, T., 1986, “Experimental Evaluation of the Feedforward Compensation and Computed-Torque Control Schemes,” American Control Conference, June.
11. Koivo, A. J., and Guo, T. H., 1983, “Adaptive Linear Controller for Robotic Manipulators,” IEEE Tram. Automat. Contr., Vol. AC-28, pp. 162-171.
12. Lee, D. G Kim, K. S., and Kwak, Y. K 1990, “Manufacturing of a SCARA Type Direct-Drive Robot with Graphite Fiber Epoxy Composite Material,” Robotica, Vol. 9, pp. 219-229.
13. Luh, J. Y. S. et al., 1980, “On-line Computational Scheme for Mechanical Manipulators,” ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 102, pp. 69-76, June.
14. Maciejowski, J. M., 1989, Multivariable Feedback Design, Addison-Wesley.
15. Miyamoto M et al., 1988, “Feedback-Error-Learning Neural Network for Trajectory Control of a Robotic Manipulator,” Neural Networks, Vol. 1, pp. 251-265.
16. Ozaki, T. et al., 1991, “Trajectory Control of Robotic Manipulators Using Neural Networks,” IEEE Trans, on Ind. Electronics, Vol. 38, No. 3, June.
17. ∞, Control,” IEEE Transactions on Automatic Control, Vol. 37, pp. 770-784.
18. Slotine, J. E., and Li, W., 1988, “Adaptive Manipulator Control: A Case Study,” IEEE Tram. Automat. Contr., Vol. 33, No. 11, pp. 995-1003, Nov.