Linear parameter varying approach to a gain scheduled flexible joint robot

Toru Namerikawa, Masayuki Fujita, Fumio Matsumura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

In this paper, we present a robust control system design for a flexible-joint robot manipulator. The robot manipulator dynamics are brought to a quasi linear parameter varying (LPV) form by a state transformation. An LPV system is defined as a linear system whose dynamics depend on an exogenous variable which can be measured upon system operation. In this case, the variables are the joint angles. In a quasi-LPV form, a robust controller using μ-synthesis is designed to achieve joint angle control.

Original languageEnglish
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
PublisherIEEE
Pages653-656
Number of pages4
Volume2
Publication statusPublished - 1996
Externally publishedYes
EventProceedings of the 1996 4th International Workshop on Advanced Motion Control, AMC'96. Part 1 (of 2) - Tsu, Jpn
Duration: 1996 Mar 181996 Mar 21

Other

OtherProceedings of the 1996 4th International Workshop on Advanced Motion Control, AMC'96. Part 1 (of 2)
CityTsu, Jpn
Period96/3/1896/3/21

Fingerprint

Manipulators
Robots
Robust control
Linear systems
Systems analysis
Control systems
Controllers

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Namerikawa, T., Fujita, M., & Matsumura, F. (1996). Linear parameter varying approach to a gain scheduled flexible joint robot. In International Workshop on Advanced Motion Control, AMC (Vol. 2, pp. 653-656). IEEE.

Linear parameter varying approach to a gain scheduled flexible joint robot. / Namerikawa, Toru; Fujita, Masayuki; Matsumura, Fumio.

International Workshop on Advanced Motion Control, AMC. Vol. 2 IEEE, 1996. p. 653-656.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Namerikawa, T, Fujita, M & Matsumura, F 1996, Linear parameter varying approach to a gain scheduled flexible joint robot. in International Workshop on Advanced Motion Control, AMC. vol. 2, IEEE, pp. 653-656, Proceedings of the 1996 4th International Workshop on Advanced Motion Control, AMC'96. Part 1 (of 2), Tsu, Jpn, 96/3/18.
Namerikawa T, Fujita M, Matsumura F. Linear parameter varying approach to a gain scheduled flexible joint robot. In International Workshop on Advanced Motion Control, AMC. Vol. 2. IEEE. 1996. p. 653-656
Namerikawa, Toru ; Fujita, Masayuki ; Matsumura, Fumio. / Linear parameter varying approach to a gain scheduled flexible joint robot. International Workshop on Advanced Motion Control, AMC. Vol. 2 IEEE, 1996. pp. 653-656
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