Robust control of flexible joint robot manipulators
Hung, John York
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Permalink
https://hdl.handle.net/2142/21411
Description
Title
Robust control of flexible joint robot manipulators
Author(s)
Hung, John York
Issue Date
1989
Doctoral Committee Chair(s)
Spong, Mark W.
Department of Study
Electrical and Computer Engineering
Discipline
Electrical Engineering
Degree Granting Institution
University of Illinois at Urbana-Champaign
Degree Name
Ph.D.
Degree Level
Dissertation
Keyword(s)
Engineering, Electronics and Electrical
Engineering, Industrial
Language
eng
Abstract
The problem of robot manipulator controller design in the presence of joint flexibility is addressed. The specific goal is to design a controller that yields good tracking performance in spite of parametric uncertainty. Feedback linearization, robust observers, singular perturbation technique, and adaptive control are different approaches that are theoretically analyzed. Experimental results on a single-link, flexible joint arm are also presented. Although each controller has its advantages and drawbacks, all of the design methods yield improved performance when compared to controller designs based upon rigid joint models.
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