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Multi-loop model-based control structure for robot manipulators

Published online by Cambridge University Press:  14 June 2005

Rafael Osypiuk ,
Bernd Finkemeyer  and
Friedrich M. Wahl
Rafael Osypiuk
Affiliation:
Institute of Control Engineering, Technical University of Szczecin, ul. 26 Kwietnia 10, 70-313 Szczecin (Poland).
Bernd Finkemeyer
Affiliation:
Institute for Robotics and Process Control, Technical University of Braunschweig, Mühlenpfordtstr. 23, 38106 Braunschweig (Germany).
Friedrich M. Wahl
Affiliation:
Institute for Robotics and Process Control, Technical University of Braunschweig, Mühlenpfordtstr. 23, 38106 Braunschweig (Germany).
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Abstract

Most nonlinear control concepts used in robotics are based on a more or less accurate inverse model of the robot. In contrast to this, the design and properties of a general $n$-loop control structure based on a divided forward model of the robot, the so-called multi-loop Model Following Control Structure ($n$-MFC), is presented in this paper. Its theoretical basics and its concept are explained. The stability and robustness of the proposed control structure is analyzed. The theoretical assumptions are verified in many experiments with a two-joint robot manipulator. Qualitative as well as quantitative results of the experiments are presented and discussed.

Keywords

Control structureMulti-loop modelTwo-joint robot
Type
Research Article
Information
Robotica , Volume 23 , Issue 4 , July 2005 , pp. 491 - 499
Copyright
© 2005 Cambridge University Press

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