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A Cascaded Feedback Control Scheme for Trajectory Tracking of Robot Manipulator Systems with Actuator Dynamics

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4 Author(s)
Kawamura, S. ; Dept. of Robotics, Ritsumeikan Univ., Shiga ; Jun, J. ; Kanaoka, K. ; Ichii, H.

In the case of control for nonlinear mechanical systems, which have complex actuator dynamics, the total system becomes high-order and nonlinear. Generally speaking, it is not easy to tune feedback gains for state feedback. In this paper, we propose a feedback control scheme for motion control of nonlinear high-order systems. We prove that the proposed scheme can improve the trajectory tracking performance of a robot manipulator system with actuator dynamics. Moreover, some simulation results demonstrate the effectiveness of the proposed control scheme

Published in:

Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on

Date of Conference:

Oct. 2006