Robust Force/position Control of a Robot Manipulator Using Time-delay Control
نویسندگان
چکیده
Robot hybrid control has been noted for its difficulty due to the so-called dynamic stability problem, and consequently demands robust control algorithms that can overcome this difficulty, yet with accuracy. In this paper, • control law based on time-delay controlhas been derived for hybrid control with • condition for closed-loop stability. In addition, its relationship with the disturbance observer has been investigated. It turned out that the disturbance observer is very similar to the proIxned controL Throughout the simulations and experiments, this control law was observed to outperform PD or PID control, thereby proposing itself as promising for hybrid control purposes.
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تاریخ انتشار 2003