Robust control of a robot manipulator with nonlinearity

Katsuhisa Furuta, Kazuhiro Kosuge, Osamu Yamano

Research output: Contribution to journalArticlepeer-review

10 Citations (Scopus)

Abstract

This paper deals with the control technique of a computer-controlled manipulator with high nonlinearity. To overcome the nonlinearity, a linearization of the system by nonlinear feedback has been employed. Because of the difficulty of the parameter identification under the variation of load, it is not easy to make correct nonlinear compensation for its linearization. In this paper, to solve this problem a robust servo controller based on a model is designed for the linearized manipulator, and a control system is constructed taking account of input nonlinearity. The method is applied to the three-joint manipulator endowed with a software servo using a minicomputer, and the effect of the proposed method is investigated.

Original languageEnglish
Pages (from-to)75-81
Number of pages7
JournalRobotica
Volume2
Issue number2
DOIs
Publication statusPublished - 1984 Apr
Externally publishedYes

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Mathematics(all)
  • Computer Science Applications

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