| Autor: |
Jongguk Yim, Jong Park, Jong-Sung Hur, Jaeyoung Lee, Sang-Hun Lee, Je Sung Yeon |
| Rok vydání: |
2006 |
| Předmět: |
|
| Zdroj: |
2006 SICE-ICASE International Joint Conference. |
| DOI: |
10.1109/sice.2006.314872 |
| Popis: |
A robust control is designed for flexible joint robot manipulators which can be decomposed into two cascaded subsystems; a series connection of robot link dynamics and joint dynamics. A recursive design method is used for the controller design. The recursive design procedure is constructive and contains two steps. First, a fictitious robust controller for the robot link dynamics is designed as if the link dynamics had an independent control. As the fictitious control, a nonlinear Hinfin control using the energy dissipation is designed in the sense of L2-gain attenuation from the disturbance caused by uncertainties to performance. Second, a real robust control is designed recursively by using a Lyapunov's second method. The designed robust control is applied to a 2 DOF robot manipulator with joint flexibilities |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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