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The Robust Control of Robot Manipulators
Abstract
A new scheme is presented for the accurate tracking control of robot manipulators. Based on the more general suction control methodology, the scheme addresses the following problem: Given the extent of parametric uncertainty ( such as imprecisions or inertias, geometry, loads) and the frequency range of unmodeled dynamics ( such as unmodeled structural modes, neglected time delays) , design a nonlinear feedback controller to achieve optimal tracking performance, in a suitable sense. The methodology is compared with standard algorithms such as the computed torque method and is shown to combine in practice improved performance with simpler and more tractable controller designs.
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Cited by
Adaptive representation of dynamics during learning of a motor task
Shadmehr, R., & Mussa-Ivaldi, F. (1994) · The Journal of Neuroscience · doi:10.1523/jneurosci.14-05-03208.1994 · Cited by 2,612
Estimation of Inertial Parameters of Manipulator Loads and Links
Atkeson, C. G., An, C. H., & Hollerbach, J. M. (1986) · The International Journal of Robotics Research · doi:10.1177/027836498600500306 · Cited by 590
Survey of robust control for rigid robots
(1991) · IEEE Control Systems · doi:10.1109/37.67672 · Cited by 389
Application of a General Learning Algorithm to the Control of Robotic Manipulators
Miller, W. T., Glanz, F. H., & Kraft, L. G. (1987) · The International Journal of Robotics Research · doi:10.1177/027836498700600207 · Cited by 373
Does the nervous system depend on kinesthetic information to control natural limb movements?
Gandevia, S. C., & Burke, D. (1992) · Behavioral and Brain Sciences · doi:10.1017/s0140525x0007254x · Cited by 359
Metadata
- Authors
- Slotine, J.-J. E.
- Venue
- The International Journal of Robotics Research
- Publisher
- SAGE Publications
- Published
- 1985-06
- Volume
- 4
- Issue
- 2
- Pages
- 49-64
- ISSN
- 0278-3649 (ISSN-L)
- 1741-3176
- OpenAlex
- W2165643318
- Cited by
- 565
- References
- 0
- FWCI
- 49.39
- Type
- journal article
- Language
- en
- Open access
- closed
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- Slotine, J.-J. E. (1985). The Robust Control of Robot Manipulators. The International Journal of Robotics Research. https://doi.org/10.1177/027836498500400205
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