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http://dx.doi.org/10.3795/KSME-A.2004.28.8.1075

Robust Trajectory Control of Robot Manipulators Using Time Delay Estimation and Internal Model Concept  

Cho Geon Rae (한국과학기술원 대학원 기계공학과)
Chang Pyung-Hun (한국과학기술원 기계공학과)
Jung Je Hyung (한국과학기술원 대학원 기계공학과)
Publication Information
Transactions of the Korean Society of Mechanical Engineers A / v.28, no.8, 2004 , pp. 1075-1086 More about this Journal
Abstract
In this paper, Time Delay Control(TDC) for robot manipulators is analyzed and its problems are founded. In order to remedy the problems, the enhanced controller is proposed and analyzed. The effect of friction associated with TDC is reported and its cause is presented. Through the analysis, simulation and experiment, it is shown that the friction effect causes serious degradation in control performance and that it is a result of the error of Time Delay Estimation(TDE) in TDC. In order to remedy the problems, TDC combined with Internal Model Control(IMC) concept is proposed. The proposed compensator is effective enough to handle the bad effect of friction, and is so simple and efficient as to match positive attribute of TDC. The simulation and experimental results show the effectiveness of proposed controller against the friction of the robot manipulators.
Keywords
Time Delay Control with Internal Model(TDCIM); Time Delay Control(TDC); Internal Model Control(IMC); Time Delay Estimation Error(TDE Error); Coulomb Friction; Stick-Slip;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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