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Revising the Robust-Control Design for Rigid Robot Manipulators

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2 Author(s)
Luca Bascetta ; Politecnico di Milano, Dipartimento di Elettronica e Informazione , Milan, Italy ; Paolo Rocco

Robust controllers for robot manipulators ensure stability of the closed-loop system, even if only partial knowledge of the dynamic model of the manipulator is available. Existing derivations of robust-control laws, while guaranteeing the stability result, present an undesired dependence of the robust-control term on the gains of the controller for the nominal system. This dependence forces larger robust-control terms when the nominal control gains are large. Based on a structured representation of the model uncertainty, this paper proposes a derivation of the robust-control law, where these limitations are removed. Experimental results on the COMAU SMART 3S industrial robot in a 3-degree-of-freedom (DOF) configuration confirm the advantages of the proposed controller.

Published in:

IEEE Transactions on Robotics  (Volume:26 ,  Issue: 1 )