| Popis: |
In this chapter, various motion control schemes for rigid robotic manipulator were introduced. The first control schemes were conventional PD and PID control which have simple structures. However, PID control methods have limitations for nonlinear robotic manipulators. To overcome these disadvantages, modified PID control and computedtorque control were introduced as a special application of the feedback linearization of nonlinear systems. To handle uncertainties in the robotic manipulator, adaptive and robust control methods were discussed. Adaptive controllers are formulated by updating controller parameters online; these controllers are suited for systems with structured uncertainties. In robust control of fixed structure, the stability and performance in uncertain systems is guaranteed. Robust control schemes can be combined with adaptive control techniques effectively. The bounds of uncertainties are estimated by adding an adaptive scheme to the robust controller. Some disturbance observer based control schemes are also shown to be robust control methods. By compensating for all disturbances which consist of system uncertainties and disturbances, DOB control can be applied to practical robot manipulators effectively. |
