High-quality bounded robust robot stabilizing control

High-quality bounded robust robot stabilizing control

The robot model used incorporates unknown nonlinearities due to friction in joints and unknown payload variation, and reflects control constraints of the saturation type. The control is synthesized to assure both stability and attraction with a demanded finite reachability time of the robot desired...

Ausführliche Beschreibung

Gespeichert in:
Bibliographische Detailangaben
Hauptverfasser: Gruyitch, L.T., Kokosy, A.
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Asymptotic stability
Friction
Motion control
Payloads
Robot control
Robot motion
Robust control
Student members
Uncertainty
Velocity control
Online-Zugang:Volltext bestellen
Tags: Tag hinzufügen
Keine Tags, Fügen Sie den ersten Tag hinzu!
container_end_page 802 vol.1
container_issue
container_start_page 797
container_title
container_volume 1
creator Gruyitch, L.T.
Kokosy, A.
description The robot model used incorporates unknown nonlinearities due to friction in joints and unknown payload variation, and reflects control constraints of the saturation type. The control is synthesized to assure both stability and attraction with a demanded finite reachability time of the robot desired motion. The controlled robot variables (angles, positions, velocities) also obey their constraints. An example of the control synthesis for a three degree-of-freedom robot is shown.
doi_str_mv 10.1109/CDC.1997.650736
format Conference Proceeding
fullrecord <record><control><sourceid>ieee_6IE</sourceid><recordid>TN_cdi_ieee_primary_650736</recordid><sourceformat>XML</sourceformat><sourcesystem>PC</sourcesystem><ieee_id>650736</ieee_id><sourcerecordid>650736</sourcerecordid><originalsourceid>FETCH-LOGICAL-i172t-8cc3ddf3f621743a6f145c5fb5915a8b2ebe877f0d02ebbe4034f21251953a0c3</originalsourceid><addsrcrecordid>eNotj71OwzAYRS0BEm1hRmLKCyR8nx3_jShAi1SJBebKv8UoxJA4Q3l6isp07nR0DyE3CA0i6LvuoWtQa9kIDpKJM7IEqYC1qCQ9JwtAjTWlKC7Jcpo-AECBEAvCN2n_Xn_Ppk_lUNk8Dz74asx2nsofcqmmYmzq008a9pXLQxlzf0UuoumncP3PFXl7enztNvX2Zf3c3W_rhJKWWjnHvI8sCoqyZUZEbLnj0XKN3ChLgw1KyggejtOG9vg3UqQcNWcGHFuR25M3hRB2X2P6NONhdypkvzi1RLk</addsrcrecordid><sourcetype>Publisher</sourcetype><iscdi>true</iscdi><recordtype>conference_proceeding</recordtype></control><display><type>conference_proceeding</type><title>High-quality bounded robust robot stabilizing control</title><source>IEEE Electronic Library (IEL) Conference Proceedings</source><creator>Gruyitch, L.T. ; Kokosy, A.</creator><creatorcontrib>Gruyitch, L.T. ; Kokosy, A.</creatorcontrib><description>The robot model used incorporates unknown nonlinearities due to friction in joints and unknown payload variation, and reflects control constraints of the saturation type. The control is synthesized to assure both stability and attraction with a demanded finite reachability time of the robot desired motion. The controlled robot variables (angles, positions, velocities) also obey their constraints. An example of the control synthesis for a three degree-of-freedom robot is shown.</description><identifier>ISSN: 0191-2216</identifier><identifier>ISBN: 0780341872</identifier><identifier>ISBN: 9780780341876</identifier><identifier>DOI: 10.1109/CDC.1997.650736</identifier><language>eng</language><publisher>IEEE</publisher><subject>Asymptotic stability ; Friction ; Motion control ; Payloads ; Robot control ; Robot motion ; Robust control ; Student members ; Uncertainty ; Velocity control</subject><ispartof>Proceedings of the 36th IEEE Conference on Decision and Control, 1997, Vol.1, p.797-802 vol.1</ispartof><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/650736$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>309,310,776,780,785,786,2052,4036,4037,27902,54895</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/650736$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc></links><search><creatorcontrib>Gruyitch, L.T.</creatorcontrib><creatorcontrib>Kokosy, A.</creatorcontrib><title>High-quality bounded robust robot stabilizing control</title><title>Proceedings of the 36th IEEE Conference on Decision and Control</title><addtitle>CDC</addtitle><description>The robot model used incorporates unknown nonlinearities due to friction in joints and unknown payload variation, and reflects control constraints of the saturation type. The control is synthesized to assure both stability and attraction with a demanded finite reachability time of the robot desired motion. The controlled robot variables (angles, positions, velocities) also obey their constraints. An example of the control synthesis for a three degree-of-freedom robot is shown.</description><subject>Asymptotic stability</subject><subject>Friction</subject><subject>Motion control</subject><subject>Payloads</subject><subject>Robot control</subject><subject>Robot motion</subject><subject>Robust control</subject><subject>Student members</subject><subject>Uncertainty</subject><subject>Velocity control</subject><issn>0191-2216</issn><isbn>0780341872</isbn><isbn>9780780341876</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>1997</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNotj71OwzAYRS0BEm1hRmLKCyR8nx3_jShAi1SJBebKv8UoxJA4Q3l6isp07nR0DyE3CA0i6LvuoWtQa9kIDpKJM7IEqYC1qCQ9JwtAjTWlKC7Jcpo-AECBEAvCN2n_Xn_Ppk_lUNk8Dz74asx2nsofcqmmYmzq008a9pXLQxlzf0UuoumncP3PFXl7enztNvX2Zf3c3W_rhJKWWjnHvI8sCoqyZUZEbLnj0XKN3ChLgw1KyggejtOG9vg3UqQcNWcGHFuR25M3hRB2X2P6NONhdypkvzi1RLk</recordid><startdate>1997</startdate><enddate>1997</enddate><creator>Gruyitch, L.T.</creator><creator>Kokosy, A.</creator><general>IEEE</general><scope>6IE</scope><scope>6IL</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIL</scope></search><sort><creationdate>1997</creationdate><title>High-quality bounded robust robot stabilizing control</title><author>Gruyitch, L.T. ; Kokosy, A.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i172t-8cc3ddf3f621743a6f145c5fb5915a8b2ebe877f0d02ebbe4034f21251953a0c3</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>1997</creationdate><topic>Asymptotic stability</topic><topic>Friction</topic><topic>Motion control</topic><topic>Payloads</topic><topic>Robot control</topic><topic>Robot motion</topic><topic>Robust control</topic><topic>Student members</topic><topic>Uncertainty</topic><topic>Velocity control</topic><toplevel>online_resources</toplevel><creatorcontrib>Gruyitch, L.T.</creatorcontrib><creatorcontrib>Kokosy, A.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Gruyitch, L.T.</au><au>Kokosy, A.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>High-quality bounded robust robot stabilizing control</atitle><btitle>Proceedings of the 36th IEEE Conference on Decision and Control</btitle><stitle>CDC</stitle><date>1997</date><risdate>1997</risdate><volume>1</volume><spage>797</spage><epage>802 vol.1</epage><pages>797-802 vol.1</pages><issn>0191-2216</issn><isbn>0780341872</isbn><isbn>9780780341876</isbn><abstract>The robot model used incorporates unknown nonlinearities due to friction in joints and unknown payload variation, and reflects control constraints of the saturation type. The control is synthesized to assure both stability and attraction with a demanded finite reachability time of the robot desired motion. The controlled robot variables (angles, positions, velocities) also obey their constraints. An example of the control synthesis for a three degree-of-freedom robot is shown.</abstract><pub>IEEE</pub><doi>10.1109/CDC.1997.650736</doi></addata></record>
fulltext fulltext_linktorsrc
identifier ISSN: 0191-2216
ispartof Proceedings of the 36th IEEE Conference on Decision and Control, 1997, Vol.1, p.797-802 vol.1
issn 0191-2216
language eng
recordid cdi_ieee_primary_650736
source IEEE Electronic Library (IEL) Conference Proceedings
subjects Asymptotic stability
Friction
Motion control
Payloads
Robot control
Robot motion
Robust control
Student members
Uncertainty
Velocity control
title High-quality bounded robust robot stabilizing control
url https://sfx.bib-bvb.de/sfx_tum?ctx_ver=Z39.88-2004&ctx_enc=info:ofi/enc:UTF-8&ctx_tim=2025-02-21T13%3A25%3A10IST&url_ver=Z39.88-2004&url_ctx_fmt=infofi/fmt:kev:mtx:ctx&rfr_id=info:sid/primo.exlibrisgroup.com:primo3-Article-ieee_6IE&rft_val_fmt=info:ofi/fmt:kev:mtx:book&rft.genre=proceeding&rft.atitle=High-quality%20bounded%20robust%20robot%20stabilizing%20control&rft.btitle=Proceedings%20of%20the%2036th%20IEEE%20Conference%20on%20Decision%20and%20Control&rft.au=Gruyitch,%20L.T.&rft.date=1997&rft.volume=1&rft.spage=797&rft.epage=802%20vol.1&rft.pages=797-802%20vol.1&rft.issn=0191-2216&rft.isbn=0780341872&rft.isbn_list=9780780341876&rft_id=info:doi/10.1109/CDC.1997.650736&rft_dat=%3Cieee_6IE%3E650736%3C/ieee_6IE%3E%3Curl%3E%3C/url%3E&disable_directlink=true&sfx.directlink=off&sfx.report_link=0&rft_id=info:oai/&rft_id=info:pmid/&rft_ieee_id=650736&rfr_iscdi=true