Simplified Adaptive Nonlinear Robust Controller for Linearized Pantagraph-Type Manipulator
Kiyotaka Izumi*, Keigo Watanabe** and Masatoshi Nakamura***
*Faculty of Engineering Systems and Technology, Graduate School of Science and Engineering, Saga University, 1 Honjo-machi, Saga, 840 Japan
**Department of Mechanical Engineering, Faculty of Science and Engineering, Saga University, 1 Honjo-machi, Saga, 840 Japan
***Department of Electrical Engineering, Faculty of Science and Engineering, Saga University, 1 Honjo-machi, Saga, 840 Japan
If physical parameters are adjusted suitably in the pantagraph-type manipulator, the mathematical model becomes linear so that we can apply a linear controller. However, when the manipulator has an additional mass as an end-effector, the linear controller does not work well because the resultant model becomes nonlinear. In this paper, we propose a simplified adaptive nonlinear robust controller which we can apply to the manipulator, irrespective of the system linearity or nonlinearity. The effectiveness of the controller is illustrated by some simulations.
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