H-infinity tuning for task-space feedback control of robot with uncertain Jacobian matrix

The H-infinity tuning problem for task-space feedback control of a robot with uncertain kinematics and Jacobian matrix from joint space to task space is formulated and solved. H-infinity tuning methods are presented for two task-space feedback controllers when the systems are subject to external dis...

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Bibliographic Details
Published inIEEE transactions on automatic control Vol. 46; no. 8; pp. 1313 - 1318
Main Authors Cheah, C C, Kawamura, S, Arimoto, S, Lee, K
Format Journal Article
LanguageEnglish
Published 01.08.2001
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Summary:The H-infinity tuning problem for task-space feedback control of a robot with uncertain kinematics and Jacobian matrix from joint space to task space is formulated and solved. H-infinity tuning methods are presented for two task-space feedback controllers when the systems are subject to external disturbance. It is shown that the conditions for the establishment of H-infinity tuning can be obtained in simple forms without solving the Hamilton-Jacobi inequalities even in the presence of kinematics uncertainty. (Author)
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ISSN:0018-9286
DOI:10.1109/9.940941