Control design for robust performance of a direct-drive robot

D. Kostic; A.G. Jager, de; M. Steinbuch

doi:10.1109/CCA.2003.1223227

Control design for robust performance of a direct-drive robot

D. Kostic, A.G. Jager, de, M. Steinbuch

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

4 Citations (Scopus)

111 Downloads (Pure)

Abstract

An experimental approach to achieve robust performance of direct-drive robot motion control is presented in this paper. It consists of: (i) decoupling the robot dynamics via feedback linearisation; (ii) frequency domain identification of the decoupled dynamics; (iii) compensa-tion of these decoupled dynamics using feedback control-lers designed via mu-synthesis. The designed controllers ensure robust performance, i.e., guaranteed accuracy of robot motions despite uncertainty in its dynamics and disturbances affecting the robot operation. Theoretical aspects of the control design are formulated. Its practical implementation on a direct-drive robotic arm is demon-strated in detail. Experimental investigation confirms the quality of the design: specifications on performance and robustness are practically realized.

Original language	English
Title of host publication	Proceedings of the 2003 IEEE International Conference on Control Applications (CCA 2003), 23-25 June 2003, Istanbul, Turkey
Place of Publication	Piscataway
Publisher	Institute of Electrical and Electronics Engineers
Pages	1448-1453
DOIs	https://doi.org/10.1109/CCA.2003.1223227
Publication status	Published - 2003

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10.1109/CCA.2003.1223227

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title = "Control design for robust performance of a direct-drive robot",

abstract = "An experimental approach to achieve robust performance of direct-drive robot motion control is presented in this paper. It consists of: (i) decoupling the robot dynamics via feedback linearisation; (ii) frequency domain identification of the decoupled dynamics; (iii) compensa-tion of these decoupled dynamics using feedback control-lers designed via mu-synthesis. The designed controllers ensure robust performance, i.e., guaranteed accuracy of robot motions despite uncertainty in its dynamics and disturbances affecting the robot operation. Theoretical aspects of the control design are formulated. Its practical implementation on a direct-drive robotic arm is demon-strated in detail. Experimental investigation confirms the quality of the design: specifications on performance and robustness are practically realized.",

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doi = "10.1109/CCA.2003.1223227",

language = "English",

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Control design for robust performance of a direct-drive robot. / Kostic, D.; Jager, de, A.G.; Steinbuch, M.

Proceedings of the 2003 IEEE International Conference on Control Applications (CCA 2003), 23-25 June 2003, Istanbul, Turkey. Piscataway : Institute of Electrical and Electronics Engineers, 2003. p. 1448-1453.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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AU - Jager, de, A.G.

AU - Steinbuch, M.

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N2 - An experimental approach to achieve robust performance of direct-drive robot motion control is presented in this paper. It consists of: (i) decoupling the robot dynamics via feedback linearisation; (ii) frequency domain identification of the decoupled dynamics; (iii) compensa-tion of these decoupled dynamics using feedback control-lers designed via mu-synthesis. The designed controllers ensure robust performance, i.e., guaranteed accuracy of robot motions despite uncertainty in its dynamics and disturbances affecting the robot operation. Theoretical aspects of the control design are formulated. Its practical implementation on a direct-drive robotic arm is demon-strated in detail. Experimental investigation confirms the quality of the design: specifications on performance and robustness are practically realized.

AB - An experimental approach to achieve robust performance of direct-drive robot motion control is presented in this paper. It consists of: (i) decoupling the robot dynamics via feedback linearisation; (ii) frequency domain identification of the decoupled dynamics; (iii) compensa-tion of these decoupled dynamics using feedback control-lers designed via mu-synthesis. The designed controllers ensure robust performance, i.e., guaranteed accuracy of robot motions despite uncertainty in its dynamics and disturbances affecting the robot operation. Theoretical aspects of the control design are formulated. Its practical implementation on a direct-drive robotic arm is demon-strated in detail. Experimental investigation confirms the quality of the design: specifications on performance and robustness are practically realized.

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DO - 10.1109/CCA.2003.1223227

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BT - Proceedings of the 2003 IEEE International Conference on Control Applications (CCA 2003), 23-25 June 2003, Istanbul, Turkey

PB - Institute of Electrical and Electronics Engineers

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ER -

Control design for robust performance of a direct-drive robot

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