REDESIGN OF ROBUST CONTROLLERS FOR RIGID-LINK FLEXIBLE-JOINT ROBOTIC MANIPULATORS ACTUATED WITH HARMONIC DRIVE GEARING

被引：17
作者：
BRIDGES, MM [1 ]
DAWSON, DM [1 ]
机构：
[1] CLEMSON UNIV,CTR ADV MFG,DEPT ELECT & COMP ENGN,CLEMSON,SC 29634
来源：
IEE PROCEEDINGS-CONTROL THEORY AND APPLICATIONS | 1995年 / 142卷 / 05期
关键词：
ROBOT DESIGN; RLFJ MANIPULATORS; ROBUST CONTROLLERS; HARMONIC DRIVE GEARING;
D O I：
10.1049/ip-cta:19951970
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 authors have redesigned a previously developed robust tracking controller for rigid-link flexible-joint (RLFJ) robot manipulators to handle flexibilities specifically induced by harmonic drive gearing. A more realistic, and consequently more complex model for the torque transmission dynamics which includes frictional losses, kinematic error and nonlinear compliance is utilised. The stability result achieved for our proposed controller ensures that the link tracking error is 'globally uniformly ultimately bounded' (GUUB), in spite of additive bounded disturbances, parametric uncertainty, and the presence of complex nonnegligible actuator dynamics.
引用
收藏
页码：508 / 514
页数：7
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