A Model-Free Robust Control Approach For Robot Manipulator

A. Izadbakhsh, M. M. Fateh
2007 Zenodo  
A model-free robust control (MFRC) approach is proposed for position control of robot manipulators in the state space. The control approach is verified analytically to be robust subject to uncertainties including external disturbances, unmodeled dynamics, and parametric uncertainties. There is a high flexibility to work on different systems including actuators by the use of the proposed control approach. The proposed control approach can guarantee the robustness of control system. A PUMA 560
more » ... stem. A PUMA 560 robot driven by geared permanent magnet dc motors is simulated. The simulation results show a satisfactory performance for control system under technical specifications. KeywordsModel-free, robust control, position control, PUMA 560.
doi:10.5281/zenodo.1075590 fatcat:uh7le5cc5nfbzaogefkqn6o4gy