A. Jaritz et Mw. Spong, AN EXPERIMENTAL COMPARISON OF ROBUST-CONTROL ALGORITHMS ON A DIRECT-DRIVE MANIPULATOR, IEEE transactions on control systems technology, 4(6), 1996, pp. 627-640
Citations number
15
Categorie Soggetti
Controlo Theory & Cybernetics","Robotics & Automatic Control","Engineering, Eletrical & Electronic
In this paper we present an experimental comparison of recent passivit
y based robust control algorithms on a two-link direct-drive robot arm
. The manipulator is actuated with high-torque brushless dc motors and
is controlled by a digital signal processor (DSP) development system
interfaced to a PC486 workstation. Four algorithms are compared with r
espect to ease of design, implementation, and performance of the close
d-loop systems.