Abstract
In order to realize a sophisticated control, it is necessary to model a controlled system properly. However, it is impossible to obtain a complete model which can represent a physical system perfectly. Therefore, a robust control system has to be designed by considering an uncertainty of the model.
The so-called H ∞ control problem has drawn much attention in the area of the control system design as a post-modern control theory. By using this theory, the loop shaping procedure in the frequency-domain and the modern control theory based on the state space are fused, and the uncertainty in the model can be treated quantitatively and systematically.
The present study applies this robust control theory for a force control which is important for the robots of next generation. In particular, the force control of the manipulator with a gear system is examined and the H ∞ controller which guarantees low sensitivity as well as robustness against the modeling error and the variation of the system is designed.
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References
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© 1994 Springer-Verlag London Limited
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Sano, A., Furusho, J., Hattori, K., Nishina, M. (1994). Robust force control of manipulators based on H ∞ control theory. In: Yoshikawa, T., Miyazaki, F. (eds) Experimental Robotics III. Lecture Notes in Control and Information Sciences, vol 200. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0027586
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DOI: https://doi.org/10.1007/BFb0027586
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