Using the Algebraic Structure of Articulated Robot Dynamics in Control Design

  • Hardt M
  • Kreutz-Delgado K
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effectively used in control design. The dynamics has a decomposition consisting of matrix operators satisfying many identities and giving insight into the dynamical system. To show the utility of this formalism, we investigate a disturbance attenuation control problem. We introduce a meaningful performance index which has an interesting interpretation in terms of the `normalized' robot dynamics. Finally, we derive a new adaptive controller using the local structure found in the dynamics and test it on a 3-link planar robot arm.

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  • Michael Hardt

  • Kenneth Kreutz-Delgado

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