Passive Finite Dimensional Repetitive Control of Robot Manipulators (CROSBI ID 132900)
Prilog u časopisu | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Kasać, Josip ; Novaković, Branko ; Majetić, Dubravko ; Brezak, Danko
engleski
Passive Finite Dimensional Repetitive Control of Robot Manipulators
In this paper a new class of finite dimensional repetitive controllers for robot manipulators is proposed. The global asymptotic stability is proved for the unperturbed system. The passivity-based design of the proposed repetitive controller avoids the problem of tight stability conditions and slow convergence of the conventional, internal model-based, repetitive controllers. The passive interconnection of the controller and the nonlinear mechanical systems provides the same stability conditions as the controller with the exact feed-forward compensation of robot dynamics. The simulation results on a three degrees of freedom spatial manipulator illustrate the performances of the proposed controller.
Repetitive control; passive system; manipulators; robot dynamics;
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Podaci o izdanju
16 (3)
2008.
570-576
objavljeno
1063-6536
10.1109/TCST.2007.912235
Povezanost rada
Geodezija, Strojarstvo