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Identification for the robust control of robot manipulators
Author(s) -
Jagadeesh B.,
Kurien Issac K.
Publication year - 2001
Publication title -
international journal of adaptive control and signal processing
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.73
H-Index - 66
eISSN - 1099-1115
pISSN - 0890-6327
DOI - 10.1002/1099-1115(200102)15:1<1::aid-acs624>3.0.co;2-e
Subject(s) - identification (biology) , robot manipulator , control engineering , computer science , robust control , control theory (sociology) , control (management) , robot , robot control , artificial intelligence , engineering , mobile robot , control system , botany , electrical engineering , biology
In this paper an identification scheme, which yields bounds on unmodelled dynamics along with an estimate for the parameters of a nominal dynamic model, has been presented. These estimates are useful for designing a robust controller for trajectory control of robot manipulators, if they satisfy certain conditions. These conditions have been stated mathematically. Guidelines are provided for selecting a data set for identification such that the obtained estimates satisfy the above conditions. Simulation results are presented for a two‐link serial manipulator, when frictional torques are treated as unmodelled. Copyright © 2001 John Wiley & Sons, Ltd.