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A study of guaranteed cost control of a manipulator with a passive revolute joint

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Abstract

In this article, we consider the robust control problem of a two-link RR manipulator with uncertainty in the joint angle which is caused by several factors. The first purpose is to derive an uncertain linear time-invariant (LTI) system for a two-link RR manipulator which includes uncertainty in the rotational angle of each joint. The uncertainty is expressed in a system structure matrix in an explicit form. For this uncertain system, we apply guaranteed cost control. Finally, we show the effectiveness of our method by a numerical example.

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Authors and Affiliations

  1. Department of Computer Science and Systems Engineering, Faculty of Engineering, University of Miyazaki, 1-1 Gakuenkibanadai-Nishi, Miyazaki, 889-2192, Japan

    Nobuya Takahashi, Osamu Sato & Michio Kono

Authors
  1. Nobuya Takahashi
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  2. Osamu Sato
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  3. Michio Kono
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Corresponding author

Correspondence to Nobuya Takahashi.

Additional information

This work was presented in part at the 15th International Symposium on Artificial Life and Robotics, Oita, Japan, February 4–6, 2010

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Takahashi, N., Sato, O. & Kono, M. A study of guaranteed cost control of a manipulator with a passive revolute joint. Artif Life Robotics 15, 482–485 (2010). https://doi.org/10.1007/s10015-010-0845-0

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  • DOI: https://doi.org/10.1007/s10015-010-0845-0

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