Kobusf control of manipulators using the computed torque plus H compensation method

G. W. Lee, F. T. Cheng

Research output: Contribution to journalArticlepeer-review

23 Citations (Scopus)

Abstract

A new robust control scheme called the computed torque plus H compensation method is developed to control a robotic manipulator with payload and actuator uncertainties. The method linearises and decouples the nonlinear and coupled dynamic equations of a manipulator by the computed torque approach. Then the remaining uncertainty is compensated by the H control technique. In the H control synthesis process the technique of internal weight is applied to select the proper weights. Simulation results indicate that the computed torque plus H compensation method indeed exhibits better tracking performance than computed torque alone. Indexing terms: Robust control, H compensation. Robotics

Original languageEnglish
Pages (from-to)64-72
Number of pages9
JournalIEE Proceedings: Control Theory and Applications
Volume143
Issue number1
DOIs
Publication statusPublished - 1996

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Instrumentation
  • Electrical and Electronic Engineering

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