Linear parameter varying approach to a gain scheduled flexible joint robot

Toru Namerikawa, Masayuki Fujita, Fumio Matsumura

Research output: Contribution to conferencePaper

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
Pages653-656
Number of pages4
Publication statusPublished - 1996 Jan 1
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

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Namerikawa, T., Fujita, M., & Matsumura, F. (1996). Linear parameter varying approach to a gain scheduled flexible joint robot. 653-656. Paper presented at Proceedings of the 1996 4th International Workshop on Advanced Motion Control, AMC'96. Part 1 (of 2), Tsu, Jpn, .