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

5 Citations (Scopus)

153 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

Access to Document

10.1109/CCA.2003.1223227

Metis204871Final published version, 475 KB

Cite this

@inproceedings{d71453600b2149bd97276b6004d7e0c7,

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.",

author = "D. Kostic and {Jager, de}, A.G. and M. Steinbuch",

year = "2003",

doi = "10.1109/CCA.2003.1223227",

language = "English",

pages = "1448--1453",

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

publisher = "Institute of Electrical and Electronics Engineers",

address = "United States",

}

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

TY - GEN

T1 - Control design for robust performance of a direct-drive robot

AU - Kostic, D.

AU - Jager, de, A.G.

AU - Steinbuch, M.

PY - 2003

Y1 - 2003

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.

U2 - 10.1109/CCA.2003.1223227

DO - 10.1109/CCA.2003.1223227

M3 - Conference contribution

SP - 1448

EP - 1453

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

CY - Piscataway

ER -

Control design for robust performance of a direct-drive robot

Abstract

Access to Document

Fingerprint

Cite this