Robust and time-optimal control strategy for coarse/fine dual-stage manipulators

SangJoo Kwon, Wan Kyun Chung, Youngil Youm
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
more » ... O). In addition, a null motion controller which regulates the fine stage at its neutral position is designed based on the "dynamic consistency" and, as a result, the overall dual-stage servo system exhibits robust and time-optimal performance. The inherent merit and performance of the dual-stage system is shown by experiments.
doi:10.1109/robot.2000.845363 dblp:conf/icra/KwonCY00 fatcat:b24zfzrznbf2fimowgm2tknkma