Naslov
Passive Finite Dimensional Repetitive Control of Robot Manipulators

Autori
Kasać, Josip ; Novaković, Branko ; Majetić, Dubravko ; Brezak, Danko

Izvornik
IEEE Transactions on Control Systems Technology (1063-6536) 16 (2008), 3; 570-576

Vrsta, podvrsta i kategorija rada
Radovi u časopisima, članak, znanstveni

Ključne riječi
Repetitive control; passive system; manipulators; robot dynamics;

Sažetak
In this paper a new class of finite dimensional repetitive controllers for robot manipulators is proposed. The global asymptotic stability is proved for the unperturbed system. The passivity-based design of the proposed repetitive controller avoids the problem of tight stability conditions and slow convergence of the conventional, internal model-based, repetitive controllers. The passive interconnection of the controller and the nonlinear mechanical systems provides the same stability conditions as the controller with the exact feed-forward compensation of robot dynamics. The simulation results on a three degrees of freedom spatial manipulator illustrate the performances of the proposed controller.

Izvorni jezik
Engleski

Znanstvena područja
Geodezija, Strojarstvo

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