Nonlinear Robust Industrial Robot Control

DOI10.1115/1.3153015MaRDI QIDQ4732383zbMATH OpenOpenAlexFDO

Authors

Publication date 1989

Published in Journal of Dynamic Systems, Measurement, and Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1115/1.3153015

zbMATH Keywords

modeling errorsnonlinear robot control schemeparallel processing hardwarerecursive Newton-Euler formulasrobustrobust servomechanism theorySCARA-type robotunknown disturbance

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Control of mechanical systems (70Q05) Sensitivity (robustness) (93B35) Nonlinear systems in control theory (93C10) Control/observation systems governed by ordinary differential equations (93C15) Application models in control theory (93C95)

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Cited in

(12)

• A comparison of model-based path control algorithms for direct-drive SCARA robots
• Bibliography on robust control
• scientific article; zbMATH DE number 1614652 (Why is no real title available?)
• Real-time networked control of an industrial robot manipulator via discrete-time second-order sliding modes
• Engineering design of a multirate nonlinear controller for robot manipulators
• Reduktion von Robotermodellen für die nichtlineare Regelung / Reduction of robot models for nonlinear control
• Robot control for robust stability with finite reachability time in the whole
• scientific article; zbMATH DE number 798835 (Why is no real title available?)
• Nonlinear Model Predictive Control Algorithms for Industrial Articulated Robots
• Design and experimental validation of a second-order sliding-mode motion controller for robot manipulators
• Nonlinear Design of Model Predictive Control Adapted for Industrial Articulated Robots
• Adaptive path tracking control of robotic manipulators with unknown payload dynamics

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