next up previous contents
Next: System Identification of High-Performance Up: Identification and Control Previous: Control of Impedance of

Control of Mechanisms With Redundant Actuation

B. Boulet, V. Hayward Robot joint prototypes with redundant actuators and sensors are considered. Robust controllers were derived for the control of these joints, as well as methods for selecting the distribution of actuation effort in terms of the solution of minimum norm problems. A robust controller based on the [IMAGE ]-optimal sensitivity minimization method were compared to a conventional SISO pd controller. Practical controllers for use in robotics appllications are studied in terms of modulation of mechanical impedance, as well as a nonlinear controller designed to take advantage of certain nonlinear characteristics of hydraulic actuators.



Thierry Baron
Mon Apr 7 12:54:24 EDT 1997