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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
Received:May 10, 1995Accepted:May 20, 1995Published:June 20, 1995
Keywords:Adaptive control, Nonlinear control, Robust control, Pantagraph-type manipulator, Lyapunov stability theorem
Abstract
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.
Cite this article as:K. Izumi, K. Watanabe, and M. Nakamura, “Simplified Adaptive Nonlinear Robust Controller for Linearized Pantagraph-Type Manipulator,” J. Robot. Mechatron., Vol.7 No.3, pp. 242-249, 1995.Data files:
