Pre-filter to robustify the exact linearization based tracking controller of a SCARA type robot

• Abstract:

  Robustness against parameter uncertainties is an important requirement for robot controllers to achieve high precision and fast tracking. This paper proposes a procedure to cover the uncertainties remaining after the exact linearization (also known as the computed torque method in robotics), and to design am additional linear compensator ????(????) to ensure robust performance and stability. The design of ????(????) involves standard ℋ_∞ . The procedure is presented in details for a model of a four degree-of-freedom SCARA manipulator. The load mass and friction coefficients are considered as uncertain parameters. The simulation shows that the proposed method can increase robustness against parameter uncertainty.
• Keywords:
• Download:

  IMEKO-TC17-2018-004.pdf
• DOI:

  _unreg_tc17-2018.004

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