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Robust and time-optimal control strategy for coarse/fine dual-stage manipulators
Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)
A robust and time optimal control strategy for dual-stage manipulator is presented. The time optimal trajectory for a mass-damper system is determined and is given as a reference input to the system. The feedback controller is constructed so that the fine stage tracks the coarse stage errors. The controller is robustly designed as the "perturbation compensated sliding mode con-troI(PCSMC)" law, which is a combination of sliding mode controller(SMC) and perturbation observer(PO). In addition, a
doi:10.1109/robot.2000.845363
dblp:conf/icra/KwonCY00
fatcat:b24zfzrznbf2fimowgm2tknkma