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A hybrid control algorithm for robotic manipulators

Published online by Cambridge University Press:  09 March 2009

J. S. Lee  and
W. H. Kwon
J. S. Lee
Affiliation:
Department of Electrical and Control Engineering, Hong Ik University, Sangsu-dong, Mappo-ku, Seoul, 121–791 (Korea)
W. H. Kwon
Affiliation:
Department of Control and Instrumentation Engineering, Seoul National University, Shinlim-dong, Kwanak-ku, Seoul, 151–742 (Korea)
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Summary

In this paper, new hybrid control laws for the position control of robotic manipulators are proposed. The proposed control laws are composed of discrete feedforward component and continuous feedback component. The open loop nominal torque about the desired trajectories is taken as the feedforward component, while a modified version of the sliding mode control is taken as the feedback component. For the three proposed control laws, we give sufficient conditions which guarantee the bounded tracking errors in spite of the modeling errors. The existence of the control gains which satisfy these conditions is shown by numerical examples. The computational burden of feedback control is analyzed, which shows that the feedback control can be used in real time digital control. The robustness and the good tracking performance of proposed algorithms are demonstrated by the numerical simulation of a manipulator position control under payloads and parameter uncertainties.

Keywords

Hybrid controlAlgorithmRobotsRobustnessFeedforward compensation, Trade laws.
Type
Article
Information
Robotica , Volume 9 , Issue 3 , July 1991 , pp. 307 - 318
Copyright
Copyright © Cambridge University Press 1991

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