Abstract
In this paper, we present a robust control system design for a flexible-joint robot manipulator. The robot manipulator dynamics are brought to a quasi linear parameter varying (LPV) form by a state transformation. An LPV system is defined as a linear system whose dynamics depend on an exogenous variable which can be measured upon system operation. In this case, the variables are the joint angles. In a quasi-LPV form, a robust controller using μ-synthesis is designed to achieve joint angle control.
| Original language | English |
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| Pages | 653-656 |
| Number of pages | 4 |
| Publication status | Published - 1996 Jan 1 |
| Externally published | Yes |
| Event | Proceedings of the 1996 4th International Workshop on Advanced Motion Control, AMC'96. Part 1 (of 2) - Tsu, Jpn Duration: 1996 Mar 18 → 1996 Mar 21 |
Other
| Other | Proceedings of the 1996 4th International Workshop on Advanced Motion Control, AMC'96. Part 1 (of 2) |
|---|---|
| City | Tsu, Jpn |
| Period | 96/3/18 → 96/3/21 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Modelling and Simulation
- Computer Science Applications
- Electrical and Electronic Engineering