DESIGN OF ROBUST PD-TYPE CONTROL LAWS FOR ROBOTIC MANIPULATORS WITH PARAMETRIC UNCERTAINTIES Academic Article uri icon

abstract

  • In this article, design of a simple robust control law that achieves desired positions and orientations for robotic manipulators with parametric uncertainties is studied. A discontinuous control law is proposed, which consists of a highgain linear proportional plus derivative (PD) term and additional terms that compensate for the effect of gravitation. The stability of the robotic system under the proposed control law is proved by LaSalle's stability theorem. Furthermore, by the theory of singularly perturbed systems, it is shown that if the proportional and derivative gain matrices are diagonal with large positive elements then the system is decoupled into a set of firstorder linear systems. Simulation results are presented to illustrate the application of the proposed control law to a twolink robotic manipulator. Copyright 1993 Wiley Periodicals, Inc., A Wiley Company

published proceedings

  • JOURNAL OF ROBOTIC SYSTEMS

author list (cited authors)

  • SHAHRUZ, S. M., LANGARI, G., & TOMIZUKA, M.

citation count

  • 7

complete list of authors

  • SHAHRUZ, SM||LANGARI, G||TOMIZUKA, M

publication date

  • January 1, 1993 11:11 AM

publisher