Motion control of robotic manipulators with disturbance decoupling

Author

Zhu, H.A. ; Teo, C.L. ; Hong, G.S. ; Poo, A.N.

Author_Institution

Dept. of Mech. & Production Eng., Nat. Univ. of Singapore, Singapore

fYear

1993

fDate

13-16 Sep 1993

Firstpage

397

Abstract

A scheme for the decoupling control of robotic manipulators, based on a dynamic model that includes both the mechanical dynamics of the links and the electrical dynamics of the joint motors, is proposed in this paper. The highly nonlinear and strongly cross-coupled electromechanical system is firstly decoupled and linearized into a set of decoupled linear subsystems. Disturbance decoupling is then conducted for disturbance and uncertainty attenuation. The resulting algorithm is so simple that both modelling difficulty and control complexity of the manipulator systems can be reduced significantly

Keywords

linearisation techniques; nonlinear control systems; position control; robots; actuator dynamics; disturbance decoupling; dynamic model; electrical dynamics; joint motors; linearisation; mechanical dynamics; motion control; nonlinear cross coupled electromechanical system; robotic manipulators; robust control; uncertainty attenuation; Actuators; Couplings; Manipulator dynamics; Motion control; Nonlinear dynamical systems; Nonlinear equations; Power system modeling; Robot control; Torque; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications, 1993., Second IEEE Conference on

Conference_Location

Vancouver, BC

Print_ISBN

0-7803-1872-2

Type

conf

DOI

10.1109/CCA.1993.348259

Filename

348259