Singular perturbation method in control of multiple flexible-joint robots

被引：1

作者：

Dai, JH ^{[1
]}

Gu, E ^{[1
]}

机构：

[1] Oakland Univ, Dept Elect & Syst Engn, Rochester, MI 48309 USA

来源：

INTELLIGENT AUTOMATION AND SOFT COMPUTING | 2003年 / 9卷 / 02期

关键词：

multiple flexible-joint robot; hybrid rigid/flexible-joint; composite control; singular perturbation; trajectory-tracking control;

D O I：

10.1080/10798587.2000.10642849

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The trajectory-tracking control of atypical industrial robot with six revolute joints is studied; where the joint flexibility is taken into account. An explicit form of the control law is obtained by using the composite control technique. The stability of system is discussed. The global convergence of tracking error can be reached by tuning the controller parameters. This method has a unique advantage in handling a multiple flexible-joint robot as well as hybrid rigid/flexible-joint robot. Numerical simulation on a Fanuc-s430iw heavy-duty robot arm has been performed to verify the control algorithm. Satisfactory tracking performance has been achieved.

引用

页码：121 / 128

页数：8

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