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

页码：961 / 970

页数：10

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