By Topic

Low order robust dynamic compensation for a spherical wrist motor

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
E. V. Byrns ; Syst. Planning & Anal. Inc., Falls Church, VA, USA ; G. D. Sweriduk ; J. Pettengill

The position and force control problem for a spherical wrist motor using a low-order dynamic compensator in observer canonical form is investigated. The compensator is designed by an approximate loop transfer recovery technique to ensure the loop properties at the plant input. The approximate loop transfer recovery formulation is extended to account for the nonlinearities in the control problem by including a penalty on the plant nonlinearities in the quadratic performance index. This approach accounts for the system nonlinearities during the design process, without increasing the dimension of the optimization problem. The resulting closed-loop system provides near-linear behavior of the nonlinear system. The performance of this design technique is evaluated through nonlinear simulations of the manipulator response

Published in:

Control Applications, 1992., First IEEE Conference on

Date of Conference:

13-16 Sep 1992