Robust compensation of jump parameters due to load transitions in robotic systems

Y. D. SONG; J. N. ANDERSON

doi:10.1109/CCA.1992.269857

Robust compensation of jump parameters due to load transitions in robotic systems

Y. D. SONG
, J. N. ANDERSON

Research output: Book Chapters | Papers in Conference Proceedings › Conference paper (refereed) › Research › peer-review

2 Citations (Scopus)

Abstract

Although considerable work has been focused on the control of robots carrying payloads, few consider the problem of load transitions - one of the most important effects on system performance. This paper studies these transitions and presents a compensation method. It is shown that load transitions lead to abrupt (jump) parameters and uncertain transition times in the robot/payload model. A control strategy is proposed which takes the load transitions into account and guarantees the stable path tracking of robots in the face of these transitions. The effectiveness of the proposed control strategy is verified via simulation.

Original language	English
Title of host publication	Proceedings of the 1st IEEE Conference on Control Applications, CCA 1992
Publisher	IEEE
Pages	312-317
Number of pages	6
Volume	1
ISBN (Electronic)	0780300475, 9780780300477
DOIs	https://doi.org/10.1109/CCA.1992.269857
Publication status	Published - 1992
Externally published	Yes
Event	1st IEEE Conference on Control Applications, CCA 1992 - Dayton, United States Duration: 12 Sept 1992 → 16 Sept 1992

Conference

Conference	1st IEEE Conference on Control Applications, CCA 1992
Country/Territory	United States
City	Dayton
Period	12/09/92 → 16/09/92

Bibliographical note

Publisher Copyright:
© 1992 IEEE.

Keywords

Jump parameters
Load transitions
Path tracking
Robotic manipulator
Switched-type control

Access to Document

10.1109/CCA.1992.269857

Cite this

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title = "Robust compensation of jump parameters due to load transitions in robotic systems",

abstract = "Although considerable work has been focused on the control of robots carrying payloads, few consider the problem of load transitions - one of the most important effects on system performance. This paper studies these transitions and presents a compensation method. It is shown that load transitions lead to abrupt (jump) parameters and uncertain transition times in the robot/payload model. A control strategy is proposed which takes the load transitions into account and guarantees the stable path tracking of robots in the face of these transitions. The effectiveness of the proposed control strategy is verified via simulation.",

keywords = "Jump parameters, Load transitions, Path tracking, Robotic manipulator, Switched-type control",

author = "SONG, \{Y. D.\} and ANDERSON, \{J. N.\}",

note = "Publisher Copyright: {\textcopyright} 1992 IEEE.; 1st IEEE Conference on Control Applications, CCA 1992 ; Conference date: 12-09-1992 Through 16-09-1992",

year = "1992",

doi = "10.1109/CCA.1992.269857",

language = "English",

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AU - SONG, Y. D.

AU - ANDERSON, J. N.

PY - 1992

Y1 - 1992

N2 - Although considerable work has been focused on the control of robots carrying payloads, few consider the problem of load transitions - one of the most important effects on system performance. This paper studies these transitions and presents a compensation method. It is shown that load transitions lead to abrupt (jump) parameters and uncertain transition times in the robot/payload model. A control strategy is proposed which takes the load transitions into account and guarantees the stable path tracking of robots in the face of these transitions. The effectiveness of the proposed control strategy is verified via simulation.

AB - Although considerable work has been focused on the control of robots carrying payloads, few consider the problem of load transitions - one of the most important effects on system performance. This paper studies these transitions and presents a compensation method. It is shown that load transitions lead to abrupt (jump) parameters and uncertain transition times in the robot/payload model. A control strategy is proposed which takes the load transitions into account and guarantees the stable path tracking of robots in the face of these transitions. The effectiveness of the proposed control strategy is verified via simulation.

KW - Jump parameters

KW - Load transitions

KW - Path tracking

KW - Robotic manipulator

KW - Switched-type control

UR - https://www.scopus.com/pages/publications/84916483020

U2 - 10.1109/CCA.1992.269857

DO - 10.1109/CCA.1992.269857

M3 - Conference paper (refereed)

AN - SCOPUS:84916483020

VL - 1

SP - 312

EP - 317

BT - Proceedings of the 1st IEEE Conference on Control Applications, CCA 1992

PB - IEEE

T2 - 1st IEEE Conference on Control Applications, CCA 1992

Y2 - 12 September 1992 through 16 September 1992

ER -

Robust compensation of jump parameters due to load transitions in robotic systems

Abstract

Conference

Bibliographical note

Keywords

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Cite this