AN EXPERIMENTAL COMPARISON OF ROBUST-CONTROL ALGORITHMS ON A DIRECT-DRIVE MANIPULATOR

Authors
JARITZ A SPONG MW
Citation
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
Journal title
IEEE transactions on control systems technology → ACNP
ISSN journal
10636536
Volume
4
Issue
6
Year of publication
1996
Pages
627 - 640
Database
ISI
SICI code
1063-6536(1996)4:6<627:AECORA>2.0.ZU;2-U
Abstract
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.