Robust control of robots by the computed torque law

1991 ◽  
Vol 16 (1) ◽  
pp. 25-32 ◽  
Author(s):  
Zhihua Qu ◽  
John F. Dorsey ◽  
Xinfan Zhang ◽  
Darren M. Dawson
Keyword(s):  
Robust Control ◽  
Computed Torque

scholarly journals An addendum on “Robust control of robots by the computed torque method”

1992 ◽  
Vol 18 (5) ◽  
pp. 403-407 ◽  
Author(s):  
Harry Berghuis ◽  
Henk Nijmeijer ◽  
Peter Löhnberg
Keyword(s):  
Robust Control ◽  
Computed Torque

Decoupling Robust Control of Three-Link Direct Drive Robot Arm

2012 ◽  
Vol 443-444 ◽  
pp. 258-266
Author(s):  
C. Zhang ◽  
G. Zhao ◽  
Y. Xiao ◽  
X. Yang
Keyword(s):  
Robust Control ◽  
Experimental Test ◽  
Coupling Effect ◽  
Torque Control ◽  
Robot Arm ◽  
Test Results ◽  
Direct Drive ◽  
Decoupling Method ◽  
Computed Torque Control ◽  
Computed Torque

This paper introduces the mechanical structure of a three-link direct drive SCARA for wafer handling application. The dynamic modeling of the presented SCARA is derived and the coupling effect of the system is studied. A decoupling method based on computed torque control is employed in the implementation. Robust control is applied to design the SISO controllers after the system is decoupled. The experimental test results demonstrate satisfying dynamic, settling and static performances by utilizing the decoupling robust control.

A Robust Control Approach for Primary Frequency Regulation through Variable Speed Wind Turbines

2010 ◽  
Vol 130 (11) ◽  
pp. 1002-1009 ◽  
Author(s):  
Jorge Morel ◽  
Hassan Bevrani ◽  
Teruhiko Ishii ◽  
Takashi Hiyama
Keyword(s):  
Robust Control ◽  
Wind Turbines ◽  
Frequency Regulation ◽  
Variable Speed ◽  
Control Approach ◽  
Primary Frequency
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