Robust Control of a Robot Joint with Hydraulic Actuator Redundancy
نویسندگان
چکیده
A robot joint with two hydraulic actuators, one being redundant, is described. Two methods are proposed for allocating actuation e ort in terms of the solutions of minimum-norm problems. In each case, a particular physical interpretation is given. A robust pid controller derived from robust servomechanism theory and a robust controller based on the H1-optimal sensitivity minimization method are designed and experimentally tested. Conclusions are drawn comparing the two approaches.
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تاریخ انتشار 2000