Conference Proceeding

&Hscr;<sub>∞</sub> robust motion control of kinematicallyredundant manipulators

Dept. of Mech. Eng., Pohang Univ. of Sci. & Technol.;
11/1998; DOI:10.1109/IROS.1998.724640 ISBN: 0-7803-4465-0 pp.330-335 vol.1 In proceeding of: Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on, Volume: 1
Source: IEEE Xplore

ABSTRACT A robust motion control with special focus on kinematically redundant manipulators is proposed based on the kinematically decoupled (KD) joint space decomposition and the analytic nonlinear &Hscr;∞ control. Within the &Hscr;∞ control design, robustness can be achieved by formulating the disturbance input to include model uncertainties and external disturbances as well. The proposed &Hscr;∞ control is based on the analytic solution of the related Hamilton-Jacobi-Isaccs equation, and does not require any further assumptions except the Euler-Lagrange properties. Two components of motion, task and null motion, of a redundant manipulator are robustly controlled by the proposed KD reference motion compensation (RMC) reference error feedback (REF) control

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Keywords

analytic solution
 
assumptions
 
components
 
Euler-Lagrange properties
 
KD
 
model uncertainties
 
null motion
 
proposed KD reference motion compensation
 
related Hamilton-Jacobi-Isaccs equation
 
robust motion control
 
special focus
 

Jonghoon Park