ROBUST-CONTROL OF RIGID-LINK FLEXIBLE-JOINT ROBOTS WITH REDUNDANT JOINT ACTUATORS

被引：19
|
作者：
BRIDGES, MM [1 ]
DAWSON, DM [1 ]
QU, ZH [1 ]
MARTINDALE, SC [1 ]
机构：
[1] UNIV CENT FLORIDA,DEPT ELECT ENGN,ORLANDO,FL 32816
来源：
IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS | 1994年 / 24卷 / 07期
基金：
美国国家科学基金会;
关键词：
Globally uniformly ultimately bounded (GUUB) - Redundant joint actuators - Rigid link flexible joint robots - Uncertainty;
D O I：
10.1109/21.297786
中图分类号：
TP3 [计算技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, we present an approach for designing robust tracking controllers for rigid-link flexible-joint (RLFJ) robot manipulators with redundant actuators in the joints. With the proposed controller, we prove that the link tracking error is globally uniformly ultimately bounded (GUUB) in spite of additive bounded disturbances, parametric uncertainty, and other modeling uncertainty. We also illustrate how the load at each joint is shared by two actuators. Finally simulation results are presented to illustrate the effectiveness of the proposed controller.
引用
收藏
页码：961 / 970
页数：10
相关论文
共 50 条
  • [1] CONTROL OF RIGID-LINK, FLEXIBLE-JOINT ROBOTS - A SURVEY OF BACKSTEPPING METHODS
    BRIDGES, MM
    DAWSON, DM
    ABDALLAH, CT
    JOURNAL OF ROBOTIC SYSTEMS, 1995, 12 (03): : 199 - 216
  • [2] HYBRID ADAPTIVE-CONTROL FOR TRACKING OF RIGID-LINK FLEXIBLE-JOINT ROBOTS
    DAWSON, DM
    QU, Z
    BRIDGES, MM
    IEE PROCEEDINGS-D CONTROL THEORY AND APPLICATIONS, 1993, 140 (03): : 155 - 159
  • [3] Global output feedback tracking control for rigid-link flexible-joint robots
    Dixon, WE
    Zergeroglu, E
    de Queiroz, MS
    Dawson, DM
    1998 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4, 1998, : 498 - 503
  • [4] Model-based control of rigid-link flexible-joint robots: an experimental evaluation
    de Queiroz, MS
    Donepudi, S
    Burg, T
    Dawson, DM
    ROBOTICA, 1998, 16 : 11 - 21
  • [5] Experimental evaluation of link position tracking controllers for rigid-link flexible-joint robots
    deQueiroz, MS
    Donepudi, S
    Burg, T
    Dawson, DM
    PROCEEDINGS OF THE 35TH IEEE CONFERENCE ON DECISION AND CONTROL, VOLS 1-4, 1996, : 4092 - 4097
  • [6] Modeling and Evaluation of the Lumped Flexible-Joint, Rigid-Link Manipulators
    Lee, Junghoon
    Lee, Kyeong Ha
    Lee, Hyuk Jin
    Koo, Ja Choon
    2017 14TH INTERNATIONAL CONFERENCE ON UBIQUITOUS ROBOTS AND AMBIENT INTELLIGENCE (URAI), 2017, : 725 - 727
  • [7] An adaptive link position tracking controller for rigid-link flexible-joint robots without velocity measurements
    Lim, SY
    Dawson, DM
    Hu, J
    deQueiroz, MS
    IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS, 1997, 27 (03): : 412 - 427
  • [8] Adaptive task-space regulation of rigid-link flexible-joint robots with uncertain kinematics
    Liu, Chao
    Cheah, Chien Chern
    Slotine, Jean-Jacques
    2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10, 2006, : 2565 - +
  • [9] Adaptive task-space regulation of rigid-link flexible-joint robots with uncertain kinematics
    Liu, Chao
    Cheah, Chien Chem
    Slotine, Jean-Jacques E.
    AUTOMATICA, 2008, 44 (07) : 1806 - 1814
  • [10] Adaptive motion/force control for rigid-link flexible-joint manipulators with time delay
    Chen, Ming-Jin
    Li, Shu-Rong
    Cao, Qian-Lei
    Kongzhi Lilun Yu Yingyong/Control Theory and Applications, 2015, 32 (02): : 217 - 223
12345