NDLI: Nonlinear Robust Robot Control in Cartesian Coordinate

Content Provider	IEEE Xplore Digital Library
Author	Wang, Shay-Ping T. Kuo, C. Y.
Copyright Year	1988
Description	Author affiliation: Senior Engineer, Intel Corporation, Chandler, AZ 85224 (Wang, Shay-Ping T.) \|\| Assistant Professor, Mechanical & Aerospace Engineering Department, Arizona State University, Tempe, AZ 85287 (Kuo, C. Y.)
Abstract	Many assembly tasks such as gear mating, fine polishing or deburring need to use both force and position control in the cartesian coordinate to avoid damaging parts and achieve the desired smoothness. It is ineffective to control force variable in the joint coordinate. In the past, several position control methods in the cartesian coordinate were proposed. However, none of them can maintain fast and accurate motion control in the face of modeling errors and external disturbance. In this paper, we propose a new nonlinear robust control scheme for robot motion control in the cartesian coordinate. The control input of this scheme consists of a nonlinear and a linear part. The nonlinear part decouples and stabilizes the robot dynamics in the cartesian coordinate. The linear part utilizes the robust servomechanism theory to suppress effects of modeling errors or unknown external disturbance. This scheme is used in the control of a two-joint, SCARA-type robot, and simulation results demonstrate that this nonlinear robust control scheme can achieve fast and yet precise tracking control in the cartesian coordinate even at the presence of severe modeling errors.
Starting Page	1339
Ending Page	1344
File Size	426938
Page Count	6
File Format	PDF
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1988-06-15
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Robust control Robot control Force control Position control Motion control Error correction Robot kinematics Robotic assembly Gears Deburring
Content Type	Text
Resource Type	Article

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