Design of a PD position control based on the Lyapunov theory for a robot manipulator flexible-link

被引：1

作者：

Murrugarra, C. ^{[1
]}

Grieco, J. ^{[1
]}

Fernandez, G. ^{[1
]}

De Castro, O. ^{[1
]}

机构：

[1] Univ Simon Bolivar, Dept Elect & Circuits, Caracas, Venezuela

来源：

2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-3 | 2006年

关键词：

control; manipulator; flexible; PD; position;

D O I：

10.1109/ROBIO.2006.340338

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We propose the design of a PD position control for a one link flexible manipulator. This paper is based in development the scheme control using the theory Lyapunov, where the existence, unicity and asymptotic behavior of the equilibrium point is defined inside workspace of the robot manipulator, furthermore we are presenting a detailed mathematical development based in the dynamics of the robot, we proved that finding a K-p and K-v constants such as the controller converge to unique solutions. The workspace of the robot manipulator is defined in the x-y plane, with rotational joints under gravity force. The mathematical model considers the link as beam the Euler-Bernoulli. The Lagrange-Euler equation have been used to obtained generalized equation of movement and the method Assumed-Modes for modelling the transversal deformation of the beam in any point and to identify the position of the end-effector.

引用

页码：890 / +

页数：2