Reduced-order observer-based point-to-point and trajectory controllers for robot manipulators

被引：17

作者：

Khelfi, MF ^{[1
]}

Zasadzinski, M ^{[1
]}

Rafaralahy, H ^{[1
]}

Richard, E ^{[1
]}

Darouach, M ^{[1
]}

机构：

[1] UNIV METZ, INRIA LORRAINE, F-57070 METZ, FRANCE

来源：

CONTROL ENGINEERING PRACTICE | 1996年 / 4卷 / 07期

关键词：

robot manipulators; exponential reduced-order observers; controller design; asymptotic stability;

D O I：

10.1016/0967-0661(96)00098-6

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a design procedure for a reduced-order observer-based controller dedicated to n-joint robot manipulators. It is assumed that only the joint angular positions are measured. The joint angular velocities are estimated via an exponential reduced-order observer. Two types of control laws based on this observer are studied: point-to-point control with gravity compensation and trajectory control. Sufficient conditions to ensure the closed-loop stability are given. Performances of the reduced-order observer used with these two control laws are illustrated in a simulation study of a two-degrees-of-freedom robot manipulator.

引用

页码：991 / 1000

页数：10

共 50 条

[31] Reduced-order H∞Controller Design Observer-based for Systems with Parameter Uncertainty
Chen Gao
Zeng Hanping
ICCSE 2008: PROCEEDINGS OF THE THIRD INTERNATIONAL CONFERENCE ON COMPUTER SCIENCE & EDUCATION: ADVANCED COMPUTER TECHNOLOGY, NEW EDUCATION, 2008, : 543 - 546
[32] Reduced-Order Observer-Based Stabilization for the Lur'e Differential Inclusion System
Shi, Minjie
Huang, Jun
2015 27TH CHINESE CONTROL AND DECISION CONFERENCE (CCDC), 2015, : 1274 - 1277
[33] OPTIMAL JOINT TRAJECTORY PLANNING FOR COORDINATED POINT-TO-POINT MOTION OF 2-ARM MANIPULATORS
BENHABIB, B
TABARAH, E
MECHANISM AND MACHINE THEORY, 1989, 24 (01) : 9 - 17
[34] A reduced-order extended state observer-based trajectory tracking control for one-degree-of-freedom pneumatic manipulator
Zhao, Ling
Liu, Xin
Wang, Tao
Liu, Bo
ADVANCES IN MECHANICAL ENGINEERING, 2018, 10 (04)
[35] Full-order observer-based actuator fault detection and reduced-order observer-based fault reconstruction for a class of uncertain nonlinear systems
Zhu, Fanglai
Cen, Feng
JOURNAL OF PROCESS CONTROL, 2010, 20 (10) : 1141 - 1149
[36] Observer-based controllers for a flexible joint robot manipulator
De León-Morales, J
Alvarez-Leal, JG
PROCEEDINGS OF THE 37TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-4, 1998, : 1500 - 1501
[37] Observer-based controllers for a flexible joint robot manipulator
De Leon-Morales, J.
Alvarez-Leal, J.G.
Proceedings of the IEEE Conference on Decision and Control, 1998, 2 : 1500 - 1501
[38] Formulation and Numerical Solution of Robot Manipulators in Point-to-Point Motion with Maximum Load Carrying Capacity
Korayem, M. H.
Nikoobin, A.
SCIENTIA IRANICA TRANSACTION B-MECHANICAL ENGINEERING, 2009, 16 (01): : 101 - 109
[39] AN INVERSE DYNAMIC-BASED DYNAMIC-PROGRAMMING METHOD FOR OPTIMAL POINT-TO-POINT TRAJECTORY PLANNING OF ROBOTIC MANIPULATORS
YEN, V
INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE, 1995, 26 (02) : 181 - 195
[40] Formulation and numerical solution of robot manipulators in point-to-point motion with maximum load carrying capacity
Korayem, M.H.
Nikoobin, A.
Scientia Iranica, 2009, 16 (01) : 101 - 109

← 1 2 3 4 5 →