Backstepping controller design for a manipulator with compliance

被引：0

作者：

Chen, Cheng-Yi ^{[1
]}

Cheng, Marvin H.-M. ^{[2
]}

Lee, Chien-Hija ^{[1
]}

机构：

[1] Department of Electrical Engineering, Cheng Shiu University, 840, Cheng-Ching Rd., Niaosong Township, Kaohsiung 83347, Taiwan

[2] School of Science and Technology, Georgia Southern University, PO Box 8045, Statesboro, GA 30460, United States

来源：

ICIC Express Letters | 2010年 / 4卷 / 05期

关键词：

Stabilization - Backstepping - Compliance control - Position control - Controllers;

D O I：

暂无

中图分类号：

学科分类号：

摘要：

The driving shaft is often regarded as the rigidity component in the position control of the mechanical arm. Nevertheless, experimental studies have shown that the inherent compliant characteristic of the manipulator seriously degrades the whole system's performance. This paper proposes a backstepping control to overcome its positioning difficulty. The controller design is obtained by the Lyapunov stability analysis to guarantee the system's stabilization. The effectiveness of the proposed control scheme under the influences of load disturbance and parameter uncertainties provides an encouraging positioning response by simulation results. ICIC International © 2010 ISSN.

引用

页码：1723 / 1728

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