Microprocessor Implementation Of A Robust Control Law For Industrial Robots

Abstract

Key issues associated with microprocessor implement tion of a path tracking controller for a robotic manipulator are discussed. The control law is derived from a discretization of a continuous one guaranteeing the boundedness of the tracking error in the presence of bounded parameter variations. The effect of the sample time, that of del y time necessary for on-line computations and A/D D/A conversions, and the influence of limited word-length of the converters on system performance is firstly theoretically n lyzed and then investigated by means of computer simulations.