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Communication Dans Un Congrès Année : 2005

An encompassing formalization of robust computed torque schemes of robot systems

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Résumé

This paper deals with the tracking control of robot systems in presence of perturbations such as modelling errors and disturbance forces. More specifically, this paper aims at reviewing the well-established robust computed torque controller. The first goal consists in establishing a global and encompassing formalization for a large class of robust computed torque schemes by using a Lyapunov approach. Then the second goal is to use this formalization to improve a particular scheme. It consists in deriving lower gain thresholds by exploiting the passivity property of robot systems.
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Dates et versions

hal-00505084 , version 1 (22-07-2010)

Identifiants

  • HAL Id : hal-00505084 , version 1

Citer

Hatem Elloumi, Marc Bordier, Nadia Maïzi. An encompassing formalization of robust computed torque schemes of robot systems. 44th IEEE Conference on Decision Control/European Control Conference (CCD-ECC'05), Dec 2005, Seville, Spain. pp.5281-5286 - ISBN 0-7803-9567-0. ⟨hal-00505084⟩
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