제어로봇시스템학회:학술대회논문집
- 1991.10b
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- Pages.1671-1676
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- 1991
Robust digital controller for robot manipulators
- Ishihara, Tadashi (Department of Mechanical Engineering, Tohoku University, Sendai, Japan)
- Published : 1991.10.01
Abstract
Direct digital design of computed torque controllers for a robot manipulator is discussed in this paper. A simple discrete-time model of the robot manipulator obtained by Euler's method is used for the design. Taking account of computation delay in the digital processor, we propose predictor-based designs of the PD and PID type controllers. The PID type controller is designed based on a modified version of the discrete-time integral controller proposed by Mita. For both controllers, the same formulas can be used to determine the feedback gains. A simulation example is presented to compare the robustness of the proposed controllers against physical parameter variations.
Keywords