Robust control of a robot manipulator using a linear parameter varying representation

Toru Namerikawa, Fumio Matsumura, Masayuki Fujita

Research output: Contribution to conferencePaper

Abstract

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

Original languageEnglish
Pages489-492
Number of pages4
Publication statusPublished - 1996 Dec 1
EventProceedings of the IEEE International Conference on Industrial Technology - Shanghai, China
Duration: 1994 Dec 51994 Dec 9

Other

OtherProceedings of the IEEE International Conference on Industrial Technology
CityShanghai, China
Period94/12/594/12/9

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ASJC Scopus subject areas

  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

Namerikawa, T., Matsumura, F., & Fujita, M. (1996). Robust control of a robot manipulator using a linear parameter varying representation. 489-492. Paper presented at Proceedings of the IEEE International Conference on Industrial Technology, Shanghai, China, .