Pacific national university Main page Bulletin of Pacific national university

UDC 684.511

© E.L. Eremin, D.A. Telichenko, E.A. Shelenok, 2010

CYCLICAL MODE IN ROBUST CONTROL SYSTEM FOR BARRETT MANIPULATOR

Solution of the problem of cyclic mode control for double-link Barrett WAM (Whole Arm Manipulator) with no periodical external noise and nonlinear parameters is considered. Solution methods are based on the employment of the fast reference model, apple pie order time invariant observer and hyper stability criterion.

Keywords: robot-manipulator, multiple connected plant, hyper stability criterion, observer

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