ROBUST INDEPENDENT JOINT CONTROLLER-DESIGN FOR INDUSTRIAL ROBOT MANIPULATORS

被引：178

作者：

HSIA, TCS

LASKY, TA

GUO, ZY

机构：

[1] Department of Electrical Engineering and Computer Science, University of California, Davis

来源：

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS | 1991年 / 38卷 / 01期

关键词：

D O I：

10.1109/41.103479

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 independent joint control approach to robot manipulator control is very useful for simplifying controller implementation. The key issues involved in such an approach is the suppression of disturbance at each robot joint due to dynamic coupling, friction, and gravity loading. In this paper, a novel approach is presented for the design of simple robust independent joint controllers for industrial robot manipulators. In this approach, each joint actuator is treated as a simple inertial system plus a disturbance torque representing all the unmodeled dynamics. By a very simple algorithm, the disturbance is instantly estimated and rejected, thus allowing a simple PD control scheme to be used. Stability of the proposed control law is analyzed. Experimental evaluations of the proposed controller on a microcomputer-controlled PUMA 560 arm are performed. It is shown that the control scheme is simple and practical and that it can be easily implemented on an industrial manipulator presently in use.

引用

页码：21 / 25

页数：5

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