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Robust control of a robot manipulator with nonlinearity

Published online by Cambridge University Press:  09 March 2009

Katsuhisa Furuta ,
Kazuhiro Kosuge ,
Osamu Yamano  and
Kageharu Nosaki
Katsuhisa Furuta
Affiliation:
Department of Control Engineering, Tokyo Institute of Technology, Oh-Okayama 2-12-1, Meguro-ku, Tokyo (Japan) 152
Kazuhiro Kosuge
Affiliation:
Department of Control Engineering, Tokyo Institute of Technology, Oh-Okayama 2-12-1, Meguro-ku, Tokyo (Japan) 152
Osamu Yamano
Affiliation:
Department of Control Engineering, Tokyo Institute of Technology, Oh-Okayama 2-12-1, Meguro-ku, Tokyo (Japan) 152
Kageharu Nosaki
Affiliation:
Production Engineering Department, SONY Corporation, Kitashinagawa 6-chome, Shinagawa-ku, Tokyo (Japan)
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Summaruy

This paper deals with the control technique of a computer-controlled manipulator with high nonlinearity. To overcome the nonlinearity, a linearization of the system by nonlinear feedback has been employed. Because of the difficulty of the parameter identification under the variation of load, it is not easy to make correct nonlinear compensation for its linearization. In this paper, to solve this problem a robust servo controller based on a model is designed for the linearized manipulator, and a control system is constructed taking account of input nonlinearity. The method is applied to the three-joint manipulator endowed with a software servo using a minicomputer, and the effect of the proposed method is investigated.

Type
Article
Information
Robotica , Volume 2 , Issue 2 , April 1984 , pp. 75 - 81
Copyright
Copyright © Cambridge University Press 1984

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