Abstract
Configuration-dependent nonlinear coefficient matrices in the dynamic equation of a robot manipulator impose computational burden in real-time implementation of tracking control based on the inverse dynamics controller (IDC). However, parallel manipulators such as a Stewart platform have relatively small workspace compared to serial manipulators. Based on the characteristics of small motion range, nonlinear coefficient matrices can be approximated to constant ones. The modeling errors caused by such approximation are compensated for by H∞ controller that treats the error as disturbance. The proposed IDC with approximate dynamics combined with H∞ control shows good tracking performance even for fast tracking control in which computation of full dynamics is not easy to implement.
| Original language | English |
|---|---|
| Pages (from-to) | 605-619 |
| Number of pages | 15 |
| Journal | Mechatronics |
| Volume | 13 |
| Issue number | 6 |
| DOIs | |
| Publication status | Published - 2003 Jul |
Bibliographical note
Funding Information:This research was supported by the Basic Research Program of the Korea Science and Engineering Foundation (1999-1-304-003).
Keywords
- Approximate inverse dynamics
- H control
- Inverse dynamics control
- Stewart platform
ASJC Scopus subject areas
- Mechanical Engineering
- Electrical and Electronic Engineering
- Control and Systems Engineering
- Computer Science Applications