A global adaptive link position-tracking controller for robot manipulators driven by induction motors

被引：3
|
作者：
Hu, J
Dawson, DM
Vedagarbha, P
Canbolat, H
机构：
[1] Department of Electrical and Computer Engineering, Center for Advanced Manufacturing, Clemson University, Clemson, SC
来源：
INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE | 1997年 / 28卷 / 07期
关键词：
D O I：
10.1080/00207729708929424
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
We present an adaptive, partial-state feedback, link position tracking controller for robot manipulators driven by induction motors. The proposed controller compensates for parametric uncertainty in the mechanical subsystem while yielding global asymptotic link position tracking. The proposed controller does not require measurement of voter flux; furthermore, the controller does not exhibit any singularities. Preliminary experimental and simulation results are provided to illustrate the effectiveness of the proposed controller.
引用
收藏
页码：625 / 642
页数：18
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