Robust control of rigid-link flexible-joint robots with redundant joint actuators

Author

Bridges, Michael M. ; Dawson, Darren M. ; Qu, Zhihua ; Martindale, Scott C.

Author_Institution

Dept. of Electr. & Comput. Eng., Clemson Univ., SC, USA

Volume

24

Issue

7

fYear

1994

fDate

7/1/1994 12:00:00 AM

Firstpage

961

Lastpage

970

Abstract

Presents an approach for designing robust tracking controllers for rigid-link flexible-joint (RLFJ) robot manipulators with redundant actuators in the joints. With the proposed controller, the authors prove that the link tracking error is globally uniformly ultimately bounded (GUUB) in spite of additive bounded disturbances, parametric uncertainty, and other modeling uncertainty. The authors also illustrate how the load at each joint is shared by two actuators. Finally simulation results are presented to illustrate the effectiveness of the proposed controller

Keywords

control system synthesis; manipulators; position control; stability; additive bounded disturbances; globally uniformly ultimately bounded; link tracking error; modeling uncertainty; parametric uncertainty; redundant joint actuators; rigid-link flexible-joint robots; robust control; tracking controllers; Actuators; Bridges; Drives; Manipulators; Orbital robotics; Payloads; Robot control; Robotics and automation; Robust control; Uncertainty;

fLanguage

English

Journal_Title

Systems, Man and Cybernetics, IEEE Transactions on

Publisher

ieee

ISSN

0018-9472

Type

jour

DOI

10.1109/21.297786

Filename

297786