Computed Voltage Control of a robot arm including mechanical link and electrical actuator dynamics

被引：0
作者：
Robet, P. Ph. [1 ]
Gautier, M. [1 ]
机构：
[1] Univ Nantes, IRCCyN, LUNAM, F-44321 Nantes 03, France
来源：
2014 16TH EUROPEAN CONFERENCE ON POWER ELECTRONICS AND APPLICATIONS (EPE'14-ECCE EUROPE) | 2014年
关键词：
Control of drive; Synchronous motor; Robotics; SYSTEMS;
D O I：
暂无
中图分类号：
TE [石油、天然气工业]; TK [能源与动力工程];
学科分类号：
0807 ; 0820 ;
摘要：
To evaluate the efficiency of the computed voltage controller, tracking position and velocity errors are compared by simulation with the computed torque control and two conventional laws of regulation. At the end, another comparison is done with a non linear control law of regulation where the derivatives of the controlled variable q are tracked. The design of computed voltage controller, which includes the current dynamics of a synchronous driver, is derived. The control law is implemented and validated on an experimental robot joint.
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页数：10
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