Passive Internal Model Based Repetitive Control of Robot Manipulators (CROSBI ID 518941)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
Podaci o odgovornosti
Kasać, Josip ; Novaković, Branko ; Majetić, Dubravko ; Brezak, Danko
engleski
Passive Internal Model Based Repetitive Control of Robot Manipulators
In this paper a new class of globally stable finite dimensional repetitive controller for robot manipulator is proposed. The passivity based design of the proposed repetitive controller avoid the problem of tight stability conditions and slow convergence of the conventional, internal model based, repetitive controllers. The passive interconnection of the controller with nonlinear mechanical systems provide stability margin which is the same as stability margin of the controller with exact feed-forward compensation of robot dynamics. The simulation results illustrate the convergence properties of the proposed controller.
Robot control; repetitive control; passivity based control
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Podaci o prilogu
2006.
objavljeno
Podaci o matičnoj publikaciji
IEEE International Conference on Control Applications
Podaci o skupu
IEEE International Conference on Control Applications
predavanje
04.10.2006-06.10.2006
München, Njemačka