A new control design method is developed to satisfy multiple specifications simultaneously. The proposed convex combination method is applied to a six (6)-degree-of-freedom commercial robot. In a trajectory tracking task under external disturbance, four requirements, stability, path accuracy, velocity accuracy, and steady-state error of position, can be met at the same time. The experimental results verify this conclusion.

Issue Section:
Technical Briefs
Topics:
Control systems, Design, Robots, Trajectories (Physics), Design methodology, Errors, Stability, Steady state
1.
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 by The American Society of Mechanical Engineers
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