Pregled bibliografske jedinice broj: 256052
Passive Internal Model Based Repetitive Control of Robot Manipulators
Passive Internal Model Based Repetitive Control of Robot Manipulators // IEEE International Conference on Control Applications
München, Njemačka, 2006. (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)
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Naslov
Passive Internal Model Based Repetitive Control of Robot Manipulators
Autori
Kasać, Josip ; Novaković, Branko ; Majetić, Dubravko ; Brezak, Danko
Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni
Izvornik
IEEE International Conference on Control Applications
/ - , 2006
Skup
IEEE International Conference on Control Applications
Mjesto i datum
München, Njemačka, 04.10.2006. - 06.10.2006
Vrsta sudjelovanja
Predavanje
Vrsta recenzije
Međunarodna recenzija
Ključne riječi
Robot control; repetitive control; passivity based control
Sažetak
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.
Izvorni jezik
Engleski
Znanstvena područja
Strojarstvo
