Robust control of flexible joint robot manipulator

被引：0
|
作者：
Patel, Aditya [1 ]
Neelgund, Rohan [1 ]
Wathore, Archana [1 ]
Kolhe, Jaywant P. [2 ]
Kuber, M. M. [2 ]
Talole, S. E. [2 ]
机构：
[1] AISSMS Coll Engn, Pune 411001, Maharashtra, India
[2] Def Inst Adv Technol, Pune 411025, Maharashtra, India
来源：
2006 IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL TECHNOLOGY, VOLS 1-6 | 2006年
关键词：
D O I：
暂无
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
A feedback linearisation based control is employed for the rigid link model of a robot having joint flexibility and the effect of joint flexibility is treated as a disturbance. A novel Uncertainty and Disturbance Estimator (UDE) is then used to estimate the disturbance to robustify the feedback linearizing controller. As only motor side variables are used in controller, the number of sensors are reduced. To demonstrate the effectiveness of the design, numerical simulations are carried out by considering parametric uncertainties and joint flexibility and the results are presented.
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页码：437 / +
页数：3
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