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P.C. Müller

Robust Position Control of Robots by Nonlinearity Estimation and Compensation

To improve the performance of position controllers of robots, a design approach using the method of nonlinearity estimation and compensation is presented. The new controller has a similar structure to that of the linear independent joint control. Nonlinearities, unknown or unmodelled effects of the robot dynamics are estimated by a linear observer and then compensated by a linear feedback based on the disturbance rejection method. The paper presents the theory how to design such a controller as well as the experimental results verifying its performance.

at – Automatisierungstechnik, Oldenbourg Wissenschaftsverlag

Print ISSN: 0178-2312
Volume: 48, 06/2000
Pages: 289

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