论文信息 - ROBUST VIBRATION CONTROL FOR SCARA-TYPE ROBOT MANIPULATORS

ROBUST VIBRATION CONTROL FOR SCARA-TYPE ROBOT MANIPULATORS

Abstract This paper presents a robust vibration control for SCARA-type robot manipulators. Some nonlinear terms in the model of robot manipulators are compensated for by nonlinear feedback, while the others together with parameter variations, are treated as system disturbances. μ -synthesis, which combines the structured singular value and H ∞ control to design controllers for plants with structured uncertainty, is applied to design a feedback controller that achieves robust stability and robust performance. Then, by the model-matching method, a feedforward controller is designed to further improve the reference input tracking. Finally, simulation and experiments are conducted to check the effectiveness of the proposed control scheme. Copyright © 1997 Elsevier Science Ltd

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