{"title":"仿人机器人柔性关节的鲁棒运动控制","authors":"J. Villagrá, C. Balaguer","doi":"10.1109/MED.2010.5547743","DOIUrl":null,"url":null,"abstract":"A new approach for robust motion control of critical joints in humanoid robots is presented in this paper. Structural stiffness, frictions and delays induced by the communication network will be fast and properly compensated with an algebraic model-free control algorithm. Moreover, robustness to parameter variations will be analyzed and compared with an advanced PID-based control law. Simulations will show that not only good tracking quality can be obtained with this novel technique, but also that it provides a very robust behavior to the system.","PeriodicalId":149864,"journal":{"name":"18th Mediterranean Conference on Control and Automation, MED'10","volume":"52 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2010-06-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"10","resultStr":"{\"title\":\"Robust motion control for humanoid robot flexible joints\",\"authors\":\"J. Villagrá, C. Balaguer\",\"doi\":\"10.1109/MED.2010.5547743\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"A new approach for robust motion control of critical joints in humanoid robots is presented in this paper. Structural stiffness, frictions and delays induced by the communication network will be fast and properly compensated with an algebraic model-free control algorithm. Moreover, robustness to parameter variations will be analyzed and compared with an advanced PID-based control law. Simulations will show that not only good tracking quality can be obtained with this novel technique, but also that it provides a very robust behavior to the system.\",\"PeriodicalId\":149864,\"journal\":{\"name\":\"18th Mediterranean Conference on Control and Automation, MED'10\",\"volume\":\"52 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2010-06-23\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"10\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"18th Mediterranean Conference on Control and Automation, MED'10\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/MED.2010.5547743\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"18th Mediterranean Conference on Control and Automation, MED'10","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/MED.2010.5547743","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Robust motion control for humanoid robot flexible joints
A new approach for robust motion control of critical joints in humanoid robots is presented in this paper. Structural stiffness, frictions and delays induced by the communication network will be fast and properly compensated with an algebraic model-free control algorithm. Moreover, robustness to parameter variations will be analyzed and compared with an advanced PID-based control law. Simulations will show that not only good tracking quality can be obtained with this novel technique, but also that it provides a very robust behavior to the system.
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