Abstract
In this paper we present experimental results of several control algorithms for a non-holonomic underactuated 2-DOF robot. The first joint of the robot consists of a DD-motor whereas the second joint has no actuator but a holding break. We derive a control law using non-collocated linearization for the uncertain parameter case and apply a PD, LQG and VS controller. In experiments the different control laws are quantitatively compared. An intelligent break algorithm is presented.
| Original language | English |
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| Pages | 96 |
| Number of pages | 1 |
| State | Published - 1997 |
| Event | Proceedings of the 1997 1st IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM'97 - Tokyo, Jpn Duration: 16 Jun 1997 → 20 Jun 1997 |
Conference
| Conference | Proceedings of the 1997 1st IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM'97 |
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| City | Tokyo, Jpn |
| Period | 16/06/97 → 20/06/97 |