MANIPULATOR CONTROL DESIGN USING A NONPARAMETRIC METHOD

A nonparametric method based on nonparametric impulse response(IR) mod els is applied to the control system design of a two-degree-of-freedom direct drive manipulator. Linearized models of the manipulator system are obtained by a direct test method and are in the form of nonparame tric IRs. The controllers are also represented by nonparametric IR mod els, and are implemented as finite-impulse response (FIR) digital filt ers. Satisfactory control performance is achieved in the experimental verification of the non-parametric designs.