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.
|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|
|Publication status||Published - 2003|