Position Control of Robots by Nonlinearity Estimation and Compensation: Theory and Experiments

  • Authors:

  • R. Hu;P. C. Müller

  • Affiliations:

  • Safety Control Engineering, FB 14, University of Wuppertal, Gauß Str. 20, D-42097 Wuppertal, Germany;Safety Control Engineering, FB 14, University of Wuppertal, Gauß Str. 20, D-42097 Wuppertal, Germany

  • Venue:
  • Journal of Intelligent and Robotic Systems
  • Year:
  • 1997

Quantified Score

Hi-index 0.00

Visualization

Abstract

To improve the performance of position controllers of robots, a designapproach using the method of nonlinearity estimation and compensation ispresented. The controller designed has a similar structure to that of thelinear independent joint control. Nonlinearities in the robot dynamics areestimated by a state observer based on approximate linear models of thesystem, and then compensated by an appropriate feedback. The paper presentsthe theory how to design such a controller as well as the experimentalresults verifying its performance.