Robust high-performance control for robotic manipulators
US5049796A · kind A · utility
Assignee
Inventor
Key dates
| Filing date | May 17, 1989 |
| Grant date | Sep 17, 1991 |
| Priority date | — |
| Expiry date | May 17, 2009 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/42065
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
Model-based and performance-based control techniques are combined for an electrical robotic control system. Thus, two distinct and separate design philosophies have been merged into a single control system having a control law formulation including two distinct and separate components, each of which yields a respective signal component that is combined into a total command signal for the system. Those two separate system components include a feedforward controller and a feedback controller. The feedforward controller is model-based and contains any known part of the manipulator dynamics that can be used for on-line control to produce a nominal feedforward component of the system's control signal. The feedback controller is performance-based and consists of a simple adaptive PID controller which generates an adaptive control signal to complement the nominal feedforward signal.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.