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Robust Control pp 130-137 | Cite as

Robust control of nonlinear mechanical systems — Case Studies —

  • Koichi Osuka
Conference paper
  • 259 Downloads
Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 183)

Abstract

In this paper, we showed some case studies of robust control of mechanical systems. In this paper, dividing the uncertainties in the dynamical model of robot systems into two cases, that is (i) Structured Uncertainty and (ii) Unstructured Uncertainty, and then we showed control strategy which suited for each case through some experiments.

We can say that the next step in the field of robot motion control is to consider both uncertainties at once.

Keywords

Actuator System Robot Manipulator Control Accuracy Structure Uncertainty Bode Diagram 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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References

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    J.J. Uicker: Dynamic Force Analysis of Spatial Linkages, ASME J. of Applied Mechanics 34, 418/424 (1967).Google Scholar
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    K. Osuka: Adaptive Control of Nonlinear Mechanical Systems, Trans. of SICE, 22-2, 126/133 (1986) (in Japanese).Google Scholar
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    K. Osuka, T. Sugie and T. Ono: PD-Type Two-Stage Robust Tracking Control for Robot Manipulators, Proc. U.S.A.-Japan Symposium on Flexible Automation, 153/160 (1988).Google Scholar
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    N. Yoshida, K. Osuka and T. Ono: PD-Type Two-Stage Robust Tracking Control for Robot Manipulators-An Application to DAIKIN Miniature Robot-, Proc. of 20th ISIR, 1051/1058 (1989).Google Scholar
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    K. Osuka, T. Kimura and T. Ono: H ∞ Control of a Certain Nonlinear Actuator, Proc. of The 29th IEEE CDC, 370/371 (1990).Google Scholar
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    B. Francis: A Course in H Control Theory, Springer-Verlag (1987).Google Scholar
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    R. Y. Chiang and M. G. Safonov: Robust-Control Toolbox, The Math Works, Inc. (1988)Google Scholar

Copyright information

© Springer-Verlag 1992

Authors and Affiliations

  • Koichi Osuka
    • 1
  1. 1.Department of Mechanical EngineeringUniversity of Osaka PrefectureSakai, OsakaJapan

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