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Position Control of Robots by Nonlinearity Estimation and Compensation: Theory and Experiments

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Abstract

To improve the performance of position controllers of robots, a designapproach using the method of nonlinearity estimation and compensation ispresented. The controller designed has a similar structure to that of thelinear independent joint control. Nonlinearities in the robot dynamics areestimated by a state observer based on approximate linear models of thesystem, and then compensated by an appropriate feedback. The paper presentsthe theory how to design such a controller as well as the experimentalresults verifying its performance.

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Authors and Affiliations

  1. Safety Control Engineering, University of Wuppertal, FB 14, Gauß Str. 20, D-42097, Wuppertal, Germany

    R. Hu & P. C. Müller

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  1. R. Hu
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  2. P. C. Müller
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Hu, R., Müller, P.C. Position Control of Robots by Nonlinearity Estimation and Compensation: Theory and Experiments. Journal of Intelligent and Robotic Systems 20, 195–209 (1997). https://doi.org/10.1023/A:1007908327618

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  • DOI: https://doi.org/10.1023/A:1007908327618

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