Control system of robot manipulator using linear time-varying controller design technique

This paper concerns with the control system of the robot manipulator in wide range of variables. For such a problem, the gain scheduling or robust control strategy based on several linear time-invariant approximate model or nonlinear control strategy are the most commonly used. In this paper, we app...

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Bibliographic Details
Published inProceedings of the 33rd Chinese Control Conference pp. 3746 - 3751
Main Authors Kemmotsu, Masakatsu, Mutoh, Yasuhiko
Format Conference Proceeding
LanguageEnglish
Published TCCT, CAA 01.07.2014
Subjects
Joints
linear time-varying system
Manipulators
Mathematical model
pole placement
robot manipulator
Time-varying systems
Trajectory
Vectors
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Summary:This paper concerns with the control system of the robot manipulator in wide range of variables. For such a problem, the gain scheduling or robust control strategy based on several linear time-invariant approximate model or nonlinear control strategy are the most commonly used. In this paper, we apply a linear time varying controller based on the linear time-varying approximate model around some desired manipulator trajectory, to the robot manipulator.
ISSN:2161-2927
DOI:10.1109/ChiCC.2014.6895563