Redesign of robust controllers for rigid-link flexible-joint robotic manipulators actuated with harmonic drive gearing

Author

Bridges, M.M. ; Dawson, D.M.

Author_Institution

Dept. of Mech. Eng. & Appl. Mech., Michigan Univ., Ann Arbor, MI, USA

Volume

142

Issue

5

fYear

1995

fDate

9/1/1995 12:00:00 AM

Firstpage

508

Lastpage

514

Abstract

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 the authors´ 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

Keywords

control system synthesis; manipulator dynamics; manipulator kinematics; robust control; frictional losses; globally uniformly ultimately bounded errors; harmonic drive gearing; kinematic error; link tracking error; nonlinear compliance; rigid-link flexible-joint robotic manipulators; robust controllers redesign; torque transmission dynamics;

fLanguage

English

Journal_Title

Control Theory and Applications, IEE Proceedings -

Publisher

iet

ISSN

1350-2379

Type

jour

DOI

10.1049/ip-cta:19951970

Filename

468433